I'm looking at purchasing a plug-in scan tool but for my minimal DIY usage, I'm putting my budget at just around $100. There's a couple INNOVA scanners in that range (5110 or 5210), Harbor Freight's ZURICH scanners (appear to be re-badged INNOVA), and I've seen some AUTEL on Amazon. Even the lower-cost INNOVA says it reads ABS for my model car. I'd love to see "live data" for the wheel speed sensors but I really don't think I need that. I haven't researched the AUTELs much at all yet.
I do have an app called "NDS" for Nissan Data Scan
(I paid for the full version too) and it says it speaks "Consult III" (Nissan's protocol). My son has my OBD adapter so I can't try it right now. I'm not certain if the Android version does as much as the Windows PC version though. It seems like I need to connect the car to try and enable readings.