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Error codes XC90 2008

Latest visit to the dealer was for an intermittent "anti-skid service required" message which goes away after the next start and driving hte vheicle a little bit...


The error codes they told me are:
BCM U042864
C110787
SAS C009404

They suggested replacing the steering angle sensor...pn 31313084...and quoted $799 for the part, labor & 're-loading software'...

Couple questions:
Are the codes they mentioned and the error message consistent with this part being bad...?

Is $799 reasonable...? FCP has the part available for $300... I may be able to get the stearing wheel apart..just not sure it'll go back together... Are remove & replace procedures avilable ?

Software re-load... Is this necessary or does the vehicles diagnostics sense a new part installed and loads/updates sw on its own...?

In advance, I appreciate member feedback!!

Frank
08 XC90 3.2 AWD, 65,000 miles...
00 C70, LPT Cpe, 145,000...






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