Location of ABS control module?

[thedtouch]

2000 tacoma 4x4 V6

My ABS light came on and I took it to the dealer they said it was code 32 (L/F speed sensor) and 44 (Decceleration sensor). They wanted to replace the control module (part#89541-04010) for $600 parts and labor first and see if that fixed the both problems.

I looked up the part on the internet and it is $330 and I was hoping I could replace it myself. Is this reccomended or just plain stupid? If it is not that hard does anybody know where the control module for the ABS system is?

Thanks