I'll have to disagree on the Ford RABS not working very well, I think it does quite well for what it is. IMHO the perfect setup would be the load-sensing valve some '80s trucks had to adjust line pressure based on how much weight there is on the axle, and behind that a RABS unit to handle lockup in slippery conditions.
In any case, if you pull the big cap off the end of the RABS unit you gain access to the back side of the accumulator chamber piston. With the cap off the spring that pushes the piston (so it can purge the chamber once you let off the brakes) can be removed, or more likely it will try to fly out. Once the spring is out you should be able to pull the piston out and clean the whole chamber nice and good. Additionally the RABS has two solenoid-actuated valves - a normally-open isolator valve to cut off brake pressure from the master cylinder during lockup, and a normally-closed dump valve to release some of the pressure already in the line out into the accumulator chamber. If the isolator valve is stuck open then whenever the dump one opens your pedal will sink way close to the floor (but this will only happen during wheels lockup), if it's stuck closed then you have no rear brakes at all. On the other hand if the dump valve is stuck closed then it will not release any pressure out and wheels once locked up will not start rolling again, whereas if it's stuck open then EVERY time you get on the brakes the pedal will sink way low and rear brakes will be weak. Seems to me you either have a dump valve stuck in the closed position, but here's the thing - the first time the dump valve doesn't open when commanded to and the electronic brain does not see the wheel speed increase it expects to see (via the VSS, yes) the system will go into bypass mode and disable altogether reverting your rear brakes to full-manual operation as if you physically bypassed the RABS unit. Light will be glowing on the dash, as long as it's not burned out - pay attention to the light when you first turn the ignition on, if it comes on and then goes off then it's working fine, and the first time the wheels lock up it should come back on and stay lit for as long as you don't shut the truck off.