If you had a failed sensor or a failure in any part of the ABS system, it would give a code and the ABS light would be on until it was fixed, no if and or buts about that.
Your wrong as I've had this happen to my truck... once I pulled the fuse, stops perfectly fine. I have a bad wheel sensor that never once threw a code.
To the OP, pull the abs fuse under the hood and try it. The sound you have is probably a ps pump going bad. If it goes or gets week, you will have a hard time steering and stopping. I've been through it all before. On the vacuum pump, I've done rebuilds and even went new and mine still leaks... nothing left to replace. I recently had the seal blow out in the steering box... guess that's what happens when you run big tires on a heavy front end.
