I guess if the car in question was a 280SE or 350SE and a junker,maybe so,but i have been helping someone install ABS AND yaw control into a 220SE coupe.
Not so difficult but time consuming as sensors have gto be installed on the axles (all four) to operate the suspension computor and brakes. it should make for a nice driver when finished.
Driving ABS is to enable the car to keep heading in the desired direction,and not allow understeer under heavy braking as happens on non ABS cars. Once that point is understood then it becomes clearer as to why it is such a good idea.