1999 Chevrolet Tahoe Soft Pedal ABS Fix

Hi, im new to this place and i just wondering if anyone can help me out here, my uncle has a 99' Tahoe 4WD, i did his brakes front and back, also i replaced the master cylinder, it was leaking externaly, i didnt bleed the master before i put it on but i did bleed it from the lines and then i went to each wheel, the brake pedal doesnt go to the floor now like it used to but it still feels like it has air in it, another thing, right before i go to a complete stop the ABS kicks in nut not all the times. im thinking that air got into the ABS system, and i know that u need a scanner to bleed the ABS, this weekend im going to check each sensor with my volt meter, my question is, if anyone know how to to remove the air in the ABS with out using a scanner?? or just anything that can help me out to get the brake system to where it was before. thank you,