I didn't skip or forget the ABS on two complete passes through the brake bleeding sequence. However, if the battery doesn't need to be disconnected, maybe it is just common to get trapped air in the ABS and it takes some time to work it out/up. All I know is that when I disconnected the battery (30+ minutes) and re-bled the front/rear ABS actuators, my firm pedal returned.
There was a week of time and few test drives between initial bleeding with spongy pedal and when I disconnected the battery/rebled ABS. Maybe this timeframe and test drives moved any trapped air in the ABS to where I could bled it out. Dunno.