Robin quoted:

"When the inflation pressure is changed by ± 30 % with respect to the
nominal value, the increase of dynamic rolling radius has relative
values ranging between 0.88 % and 0.95 %, therefore close to 1 %."

A car with e.g. 35R18 tyres/wheels progresses just under 2m per
revolution, with the ABS sensor receiving e.g. 48 pulses per revolution,
at 30mph that's about 320Hz.

Even if the distance travelled per revolution is reduced by just 1% due
to low pressure, a shift on one wheel of +3Hz wouldn't be hard to
detect, especially when it has other clues such as steering wheel angle
sensor so it knows when the differential(s) is/are doing their thing in
a corner.