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Before you replace the ABS module, check some of the other components. It isn't always the module.
If it is the module developing problems, I would drive over some speed bumps and some reasonable pot-holes with partial brakes on. That always set my ABS and TRAC lights on.
Most of the threads about this problem (on the 1998 rather than earlier wire harness problem) talk about cracked circuit board or bad solder joints. It makes sense, but I couldn't find any when I looked at mine. The guy that has been fixing them for folks (Victor Rocha) says that has to replace components quite often. I don't know which of the possible causes is correct.
If your description is correct as far as your symtoms, I would check some of the other possible causes: wheel sensor and ABS pump are among the candidates. That's what the scan tool should pick up when you go to the dealer. (Hopefully there is a pending code lurking in the system.)
Good luck and please report back.
Optimist
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