for your '96 car, it's a relatively unsophisticated system.
the ABS and TC are controlled from the same ABS ECU, which is part of the ABS "block" under the bonnet.
there's a speed sensor fitted to each wheel at the front and each diff output at the rear. These sensors are used to :-
calculate the speed that the vehicle is travelling at and to feed this to speedo, stereo, airbags, etc.
calculate if an ABS intervention is required, whereupon the ABS hydraulics intervene
calculate if TC is required, whereby power is reduced
the sensors are a tiny coil of wire, which reacts to the iron in the reluctor ring going past them, kind of like how an alternator works.
usual failure modes are damage to the ABS sensor, a lump of rust stuck to the end of the magnet in the sensor (right adjacent to the reluctor ring) and rust on the reluctor rings themselves.
DO NOT try to remove a front ABS sensor, you will break it.
the front reluctor rings are a part of the front hubs
the rear reluctor rings are a part of the inner CV joint.
half an hour with a wire brush and a magnetic screwdriver should clean them up enough to be trouble-free. If that doesn't work, then it's change sensor time.