Transmission or ABS sensors?

Hi everyone. I have a '14 Tacoma TRD with over 200k miles and I have an issue none of my shops can figure out.
It will go into gear but will stop suddenly. This morning it's raining and my truck stopped me in the middle of the highway, squealing tires and all. I'm to the point of thinking it's not the transmission rather the ABS sensors. It's intermediate and not throwing any code (other than oil change) Has anyone else dealt with this? Am I on the right path?
Also, is there a recommended maintenance book other than the one that came with the truck?
thank you.

 

Were you pressing the brake when it happens?

If not, the ABS shouldn’t come one.
Is your ABS light on?

The check engine light on?

 

Ujoints and center bearing or broken rr parking brake cable, maybe.

 

Pull the ABS fuses to check. Go for a drive in an area with no traffic.

https://www.tacomaworld.com/threads/abs-fuse.411802/