Hi Sean here is the elec troubleshooting manual and shows the connections for all the items if you want to test the continuity of all the items you can use it to find the relevant pins for all the items.
If you test the resistance of the wheel speed sensors at the ABS plug they should all be about the same.
Have you cleared all the codes and then driven it to see if they come back.
I have some more descriptions of how the system works if you want some night time reading
http://wedophones.com/Manuals/BMW/1996 BMW Z3 Electrical Troubleshooting Manual.pdf
got to 3450.1 (20th heading on lh side) there are a few pages with the diagrams for the 6 cylinder cars.