The issue I have with the OP isn't so much that he wants to remove the ABS, it is more he has absolutely no clue how a non ABS or ABS braking system works. Removing an ABS system is very simple and ranks in the realm " if you have to ask you probably shouldn't be making changes".

If ABS is inhibiting your "driving style" on public roads, you have been watching too many Ken Block gymkhana videos, really need to do a track day at a road race circuit and get your ass handed to you by the instructor. ( Or if you truly have driving skills work on developing them on the track. )

As for insurance, cars are ranked on what they were delivered with. There are specific call outs and discounts on by bill for ABS equipped cars. Will the ins co kick a claim for inop ABS? Only the agent , adjuster or actuary would know for sure.

P.S. Can a W126 diesel really get going fast enough to where ABS is needed?