My '95 YJ came with ABS and when I swapped in an rear XJ D44 i had the tone rings removed from my D30's shafts and pressed onto the D44's. I also had the sensors swapped over. My point is it can be done and i have no issues on or offroad. Anyone who says ABS sucks let them have their opinion - just remember even the newest Jeeps run ABS. Find the parts and swap them in at a good shop (tone rings, sensors, ABS pump, ABS computer, etc).