Yes, Victor Rocha. He recently did my ABS module (about 4 months ago) and I've had no problems since. I believe it was $140 total (for my module and situation), turnaround time was about 8 days (coast to coast) and you can drive the car just fine without the module in it (lit up like mardi gras of course). When he's done you're good to go, you do not need to take the car to the dealer afterward to have them hook it up to VADIS/VIDA.
Do a search on his name here and I'm sure you'll come up with his website with easy and thorough instructions on how to proceed. New modules at the dealer are over $500 plus the labor to put them in (which is simple). 90% of them do not need to be replaced, just repaired and upgraded.

If you try to do it yourself and then send it to him to fix what you messed up, it'll probably cost you extra.