I did a little Youtube searching for R&R of the Abs ECU, while I didn't find one for our 4th Gen T4Rs, I did find one for a Camry, which is a bit different since the ABS pump and ECU aren't attached to the master cylinder..BUT the ECU
and removing it sorta looks very similar to me but not looking at our's ECU in front of me so I could be wrong on how similar the R&R will be, but it does give a good idea of how it attaches which I don't think would be much different than how ours would attach, IMHO.
YouTube
Now that being said and posted he doesn't state anything about a Zero Point calibration nor does he show that it solved any issues that the Camry had.