Does anyone know if there is a way to access the ABS module without a scanner or what scanner I would buy to do that?
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On the 1993 models I don't think there is a way, Rear ABS was not a very DIY friendly module, BUT..........it does have self test and will give you Codes by Flashing ABS light while in Test mode

Video on how to do that here: www.youtube.com/watch?v=JgMjB-r6vVA

But ABS light was activated for a few reasons, even low brake fluid or bad brake fluid sensor on Master
The rear axle ABS sensor was also a know issue, VSS, it was only used for ABS in 1993, so no Check engine light would come on like in later years.
You can test it with an OHM Meter