There is a plug on the left hand side of the car, just behind the middle silencer. (See pics). This is the line for the left rear wheel ABS pick-up. (Easiest one of the four to reach!)
Simply pull out the plug and you'll see the ABS, ASC and TC lights come on as the system shuts down. The car drives like normal (without hese functions of cause!) You might wan't to cover the plug with with something while off-road, so that it's clean when you have to put it back.
To get everything back to normal, simply push the plug back in and everything will reset when you turn on the ignition and be fully operational for your return journey on tar.

Don't simply pull the ABS fuse. This does not inhibit the interference with your throttle, which cuts the power in conjunction with activating the ABS.
Use it with caution, only when needed, or dont use it!

I can vouch for this working very well on the Gen3. Maybe someone can check it out on the Gen4 and post some feedback.
Johan