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ABS/Anti-skid service notification lights on, but only sometimes XC90 2004

My xc90 (2004, 107 K miles 2.5t engine) has had the ABS warning light come on, along with a message indicating service is required for ABS and Anti-Skid systems. Is this something I can do myself? Can I drive the car safely until this gets checked?

I read on Matthew's Volvo Site that the issue might be the Steering Angle Sensor, which needs adjusting, but, similarly, I cannot seem to determine whether this is a do-it-myself type of job.

Hoping to avoid exorbitant costs and hours of diagnostic service charges.

Thanks, as always.






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