being a 04 the code may come up at auto zone, some newer cars abs code come up on the scanner.
most shops will charge to scan the car for you, if they do the work, they scan it so they can hunt it down, its part of the cost of the job.
and there are abs code readers on sale on line for pretty cheap to under 100 iirc.
then there is all the free checks, like jacking each wheel up lugs tight, then grab the top of the tire and push and pull the tire firmly, you are looking for it to have play, you can watch the rotor at the caliper for movement as well. rotor will move, caliper does not when the hub bearing is shot.
if good it will have no play at all.
also check the wires along the lca's for damage, clean and grease the hub plugs.