TC and ABS work off the same pump, so a pump issue typically lights both warnings.
You may need a Ford specific software capable scan tool to get at the codes.
Also, try your on-demand test again, but also have a friend tap the electric motor lightly with a small hammer. There may be a deadspot. Replacing motor may not be easy, depending on how the shaft connects to the georotor or pump impeller. What I have found during similar situations, is that locating the "motor only" part usually costs as much or more than the entire module. Used (but tested) units are a fraction of the new price.
I forgot to mention - if you have a tool to force a pump test, bleeding the unit after an ABS module exchange is quite easy. The self test will recirculate the fluid and bring the air to the top vent of the master reservoir. Some tests allow activation on individual channels (wheels) depending on how the circuits are defined.