ABS activates even on dry road. Lights come on after hitting 65.

4 wheels not one told, bad. RF/LF/RR/LR???????????
we cant guess front or rear. why skip that?
there are 2 parts here.
the sensor and the tone ring(reluctor)
gee these sensor is just removed and cleaned.
even soap and water cleans off dirt.
no magic there.
but the tone rings are known to rust on some cars!
and those are vastly more hard to deal with
is the ABS failing for 1 wheel ,NOT TOLD , scanned ??????
if yes clean it, reset the pcm/bcm brains and
if still ABS fails for same sensor
then the wheel must come OFF.
there.
I will read the car maker TSB recalls on tone rings if faulty now. I SEE NONE !
there are lots of causes. besides 2 parts. sensor /ring
wheel bearings shot.
brake pads shot.
suspension damage to that wheel failing
mixing up tires sizes dead wrong. for car.
the sensors come off with one small bolt.(flange)
all 4 are different sensors do not mix them up
marked LF for left front stamped on that sensor.
they most be gapped correctly
per this
The correct gap is 0.012-0.035 inch

here is the front wheel. exploded view dwg.

the sensor 5 fits to the spindle 15

and the tone ring is behind, #9 bearing hub.

If the abs tone ring needs to be removed to gain access to the rotor, then use a torch to heat it until it spins freely and pop it off with a couple of screw drivers. If, however, the tone ring is bolted to the rotor, just use an allen wrench to remove the bolts and then put it on the new rotor. But, I'm guessing by the way you posted the question that the toothed tone ring needs to come off before you can even get the rotor off.
As far as a stuck rotor, I recommend heat, or without a torch, bang it with a rubber mallet, (please wear eye protection!) until it falls off. I have had to hit brake drums VERY hard, but not often a rotor. However, trucks have all sorts of rust.

Most common problems that cause an ABS light in the XJ is a bad clockspring - located in your steering wheel, or the ABS tone rings themselves rusting too much. The tone rings are the toothed rings at the end of each of your axle shafts.

The clockspring would have to be replaced, but the tone rings can often just be cleaned of rust so that the ABS sensors can read them again.

A bad hub bearing could cause false ABS activation . Or the tone ring that triggers the wheel sensors . Tone ring is located inside hub bearing or axle shaft . They get corroded an rusted . Chevy Truck ABS Problems Unwanted ABS Activation

don't think you can buy the ring but if so tap it on with a brass drift after cleaning the rust from the housing might be cheaper to get a remain axle

this is a bad sensor or tone ring, you will need to have a scan tool to watch the speed reading to see which wheel loose speed to activate the abs and only with a scann tool can you do this, what you can try is to check the wheel bearings, jack up each whell and try to shake it if theres movement in the bearing then that may be the bad one, another thing is to scan abs codes and see if theres a code stored for the bad wheel, even if the lights not on there may be a code stored. i will bet its a wheel speed sensor or tone ring problem, good day,

clean the mounting surface of the abs sensors.rust builds up under the sensor and it sits too far away from the tone ring causing false abs modulation.

there maybe a short in the ground wires somewhere.or one of the sensors for the brakes needs to be check.

The whole bearing bad, has to be replaced,but it most likely is not the problem,make sure there is no metal bits of the rust stuck to the abs sensor.

the best way to diagnose this problem would be with a scan tool while driving and watching the speed sensors, or check all your wheel tone rings make sure there are no cracks and they are clean, also have the computer scaned for abs codes there should be a code that may tell you which wheel speed sensor is acting up,you can also check the wiring, these seem to chaf the wiring by the control arm .a bad wheel bearing may also cause this problem, i would start with a scan of the abs system,good luck.