2001 ford tarus take out the shifter vmodule

Why would you replace an ABS Module
on a vehicle, only 5 years old?

The module !!
The Controller !!

from the engine or from the wheels?

They are in the engine valve covers down in recessed holes.

I have had similar problems. You might want to check the coil pack, as it may need replacing

Transmission modulator? The 99 taurus transmission (AX4N) doesn't have one. What is you problem that you have? I can likely help.

CHECK THE TRANS FLUID FIRST, IF IT IS FULL, THEN MORE THAN LIKELY THE TRANS IS BAD ,THAT IS IF EVERYTHING IS HOOKED UP,SHIFTER CABLE, ETC ,

If you own a Ford here is the invaluable link to the error code list! I would recommened you download it and save it to your computer. It unfortunately is a frequently accessed file on my desktop..

http://www.autodiagnos.com/fileadmin/assets/en/downloads/pdf/technical_bulletins/ford/ford_dtc.pdf

there is a switch on the brake pedal. I had to replace one on mother in laws tarus. it is the switch that is made when you have to press brake pedal. check to see if your taillights are working. you can take switch apart fairly easily and clean copper contacts with sand paper. just scuff a little. it could be a linkage issue but it could just as easily be that switch.

Have you checked your coolant level & topped it up to mark?

I have the same problem. You may already know you can turn the steering wheel until it disengages.