Sure, a bad wheel speed sensor can cause ABS problems, but I would have to think it's something more than that. Have you had the car scanned for codes?
You can start by reading about the CAN system on page EL-429
http://www.nicoclub.com/FSM/Maxima/2002/EL.pdf
Check all the wiring going to the three modules on EL-437. You can use the IDX (index) section of the FSM to look up each of the modules, and see their wiring diagrams. Find components they have in common like the instrument cluster, and the smart junction box, and work your way up the tree.