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Pull your rear drums and make sure there is not anything wrong happening in there first. If it all checks out, then go further.
There should be a sensor on top of the rear for the rear ABS. I would first check to make sure the approriate fuse is installed for the ABS, and that it's good. Once you're good there, visually check the wiring that runs to the sensor for bare spots, pinched by brake lines or missing. If that checks out, I'd soak the bolt that holds the ABS sensor for a week or so in PB then remove and clean sensor. It's not a real complex system, so a Haynes or Chilton manual can walk you through it.
I'd say your IAC is causing your problems. If you want to double check it is at fault before buying a new one, buy a book mentioned above and it will tell you how to check it. If you find someone who has a book and no Bronco II anymore, they would probably give it to you for free.
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