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Are you sure it's the ABS light? Could it just be the brake warning light and you are assuming it's ABS? do you have a tag axle?
The light on the dash might be unrelated to the hanging brake caliper up front. Not uncommon. There is a separate sensor and vacuum cylinder for the tag axle. You can locate the vacuum cylinder and disconnect the sensor to see if the light no longer comes on. Does it come on and off as you accelerate and decelerate? It's possible you have a leaky tag axle cylinder and it could be responsible for the light and would be associated solely with the tag axle brakes. Doesn't mean they are failing either, just means there is a vacuum leak that may or may not get worse. Apparently, they can't be rebuilt and a new one, along with replacement vacuum line parts for it is about $1500 installed in my neck of the woods. The part is $1150 new. The cylinder was designed to be under the hood but in the mh application, it is under the coach and subject to road and weather corrosion.
The caliper hanging up front could be frozen closed and wouldn't necessarily systematically pull when braking.
How's your mpg? You can get a temp gun from Harbor Freight. After driving, check the temp of the wheels for comparison. If you have a disparity of great proportion between the wheels, you can bet the hot one is hanging.
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