Chrysler and GMAny particular vehicle or make you'll be working on?
The 5160 is great tool with ALL module capability and yes under $200 on ebay and about $275 new from innova. It also has a few bidirectional controls.I have an Innova scanner that will read ABS and SRS, works great for most vehicles. I've used it on GM and Ford OBD2 vehicles to diagnose codes and then clear them for both. I can't remember the exact model but I believe its a 51xx. I bought it used off Ebay for around $60, you can probably find one similar on there that will do what you need for around that price.
For the Chrysler vehicle have you tried the method where your turn the ignition key on an off 3 times and look for codes on the odometer?Chrysler and GM
2006 Jeep that would sometimes activate ABS when coming to a stop (on dry pavement) and every once in awhile, ABS light would come on. Scan tool showed 2 codes for RR ABS sensor. All wiring/connections have been inspected, so ordered a new sensor from RA last night!Let us know how you get on with your scan tool