A faulty ABS sensor primarily affects the anti-lock braking system. Symptoms would include the ABS light illuminating on the dashboard and potentially a less-effective braking system in certain conditions. It shouldn't directly impact the transmission's ability to engage.
If your transmission isn't engaging, the problem is much more likely related to the transmission itself (low fluid, internal mechanical failure, solenoids, etc.), the torque converter, the shift linkage, or a problem within the PCM related to transmission control.
Therefore, while a faulty ABS sensor *could* theoretically contribute to a wider electrical problem impacting the transmission in some extremely rare and complex scenarios (e.g., a short circuit causing a major power disruption), it's not a common or likely cause. You should focus your diagnostics on the transmission system and its associated components first.