Replacing ABS Control Module, does it need to be programmed?

Yes, the module needs to be accessed prior to removal with a scan tool so the configuration file can be copied to the tool, then you replace the module and connect to the replacement and upload the configuration file into it. This is because Ford uses the file to tell the module the vehicle information, things like engine, transmission, tire size and more. In your case where it says inner failure, the module may not allow the file to be copied from it and in that case, you use a dealer portal or the Ford tech line with your VIN to download the proper file into the module.
Changing the electronics itself isn't that bad, Remove the shielding and unplug it, remove the screws and drop the module. Reverse the process to install the new one and upload the configuration file. Done.