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ECUs are different, the 4x4 one has a big 4x4 logo on it, the plugs are the same but the keyway pins are in a different position so you can't fit the wrong one.
As far as I'm aware the Saff ones are the same, not sure on 3dr though
Escos are the same sensor as Saff 4x4 but they have a different connector
3DR and Saph are the same (As is any other ABS model or Granada), I am not positive but believe the 4x4's to be the same as well.
4x4 braking system is different though, not just in terms of stoppers, the master cylinder is different, and as said, I believe the ECU is different as well.