Which vehicles does the Department of Transportation require to have antilock braking systems (ABS), per the AAMVA manual, and as of what dates?

AAMVA CDL Manual, Section 10.6.1 (Vehicles Required to Have Antilock Braking Systems), p. 10-9

Knowing which vehicles are required to have ABS helps a driver understand why some older school buses may lack it while newer ones have a yellow ABS malfunction lamp on the dash. It also explains why many buses built before these dates have been voluntarily equipped with ABS even though they weren't required to be.