Happens to us all in the end. If you have the older type sensor, you can remove a shim that allows the sensor tip to get a little closer to the rotor. When you say pulled off the plugs, do you mean that you pulled the sensor out of the hub? Worth doing that and giving the tip a clean. As tey are magnetic, bits of metal get stuck in the sensor tip making it work poorly. After all of that - it's new sensor time. But if you do the test on the ABS system, it will tell you which sensor is giving you a problem. Check service manual for the test. Very simple.
Chris