ESP/ABS lights on - does rolling diameter affect?

The short answer is that  all wheels must be of same parameters. When I was working, we leased our vans from a central pool . I took mine to be replaced with a younger ( not new to us) van. On th way home , up to 55MPH all was well. Above that the ABS light came on. Main dealer checks found nothing wrong ( but again it was driven at lower than 55) ,except that one rear wheel showed up as a difference on the diagnostics. Van was a transit Hi TOP/LWB and all was well below 55. Two days later I looked at van and noticed that one rear tyre looked different. The tyre was that used on the smaller Transit. Exit to tyre place and inspection by manager confirmed my suspicions. Correct tyre fitted and no ABS to max speed of van.