Update on this:
I got the techstream cable. Techstream recognized my Camry as a TMCA product which is correct. To my surprise, there was no option of ABS/Brake system. I tried changing my region but techstream was not able to connect to the system. The abs module is Bosch 5.3. I started reading about it and voila, the abs in early Camry's are not connected to the obd2 conventionally. They use K-line diagnostics for which you need a K-Line compatible cable, these cheap cables from eBay won't work.
Then I called a guy who had 4 good quality scanners and we made a deal that if he is unable to get a code from the ABS system, he won't charge me. He tried all 4 scanners but none worked. One of the scanners told to short 4 and 13 pins and see the ABS light for codes, which I already know about. I have a code 22 which searching on the internet gives me a short circuit on the left solenoid. In vain, I went back and tried reading about Bosch 5.3 abs modules. Apparently, they have a common problem of micro-soldering breaking up. Bosch system also does not store code 2X for long and resets after a while. This would explain no light in the morning. In BMW's with Bosch 5.3 people are experiencing the same problem. They have no light in the morning and lights come up after some driving and this cycle continues.
I came to the conclusion that the module is fried in my Camry (left solenoid). I have ordered a used Bosch abs control module with the same part numbers from a seller who is giving me 3 months of warranty, hopefully, this will solve my problem.
Also, I cleaned all of the wheel speed sensors prior to ordering anything