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Hello, my name is Joe
Your Workhorse chassis has a Wabco hydraulic brake system.
The ABS data and fault codes can be read easily with a "TECH 2" scan tool. The "TECH 2" scan tool has been the standard factory / dealer scan tool for many years.
Your ABS warning is most likely being caused by a defective or damaged wheel speed sensor, but you just need to find a shop or technician who has the correct scan tool to read the data from the OBDII data connection under the dash.
Just checking in to see if you need any clarification on something which I stated above. Please remember to rate my service, so I can receive credit for my help. -Joe