If I replace the ABS Module, will it need to be programmed to the vehicle?

The ABS control module does not need to be programmed but you will need to revise the tire calibration using the Scan Tool Tire Size Calibration function, but I have seen people skip these steps and the system still worked. Here is a video and guide to help you with the job:

https://youtu.be/lUotkKXG9dY

and

https://www.2carpros.com/articles/how-to-replace-a-abs-controller

Check out the images (below). Please let us know if you need anything else to get the problem fixed.