Thanks all for the advice. It's a shame the data can't be read real-time - I had hoped that maybe the dealer DRBIII or similar could do it.
Dave, I have thought of pulling the fuse and running like that. Our ZJ hasn't had the ABS working since we bought it in 2015 and it's never been a problem. If anything, the ABS in my XJ has nearly caused more accidents than it's prevented. I remember once sliding all the way down a field, nearly hitting the wall at the bottom when the ABS wouldn't let the wheels skid!
I'm not braking late, so that's not the cause of this issue. It's actually trying to creep to a gentle stop without a jolt that triggers the ABS most frequently.
The air gap on all the sensors seems good. I recently adjusted the rear ones after having the axle shafts out. The front ones seem fine too. I've cleaned all the sensors as part of this too.
I think the next thing is to measure the resistance on the sensors. I'll try that and see if anything seems odd!