Most DIY code readers aren't able to scan ABS etc, only the engine ECU
(PCM in Ford speak)

Ideally need the ABS codes reading, and if the wheel speeds sensors showing to be working in the ABS live data and go from there. Without looking into it I wouldn't expect a fault on one ABS sensor to lose the speedo altogether, I could be wrong.

It may be an instrument cluster fault, or ABS module fault, or wiring between the two even.