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ABS became standard fit across all cars in 2000 as it became illegal to sell a car without it so your Voyager will have it
as the light is on then you should be able to plug in a chrysler scan tool and pull off the fault code
However with ABS systems 99% of the time its a problem with one of the wheel speed sensors and I'd first check the connections at all four corners first for any signs of corrosion or chafed wiring.
The sensor is located in the wheel hub so you'll have to remove each wheel in turn to inspect them all.
Also check that the toothed wheel that the sensor points to is clean and free of any debris.
you can check each sensor's function by plugging the two output wires into an AC voltmeter and spinning the wheel quite quickly, you should get a voltage signal that increases with rev's.
Its possible that the fault is only a bad connection to one of the wheel sensors.
This may be remedied by removing each wheel in turn and unplugging each sensor and cleaning the contacts with a squirt of electrical contact cleaner. Then refitting.
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