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Disconnect battery cables in trunk. You can clear some messages by shorting the battery cables together while off the battery.
Remove the fuse box cover L (drivers) side back of engine compartment. There are latches to hold the cover in place. I believe there are screws to remove. Going by memory. Search the postings for ABS and S80 to get my previous instruction. Rotate the fuse box out of the way. The ABS module is held in place by long allen screws accessed under the ABS module. With the 4 screws out, the module will come off. The cable attaching the module to the fuse box will need removal.
Try the connector contacts first. Spraying with a contact cleaner is simple and worth a first try.
I opened my module (dremel tool around the edge) and inspected the soldering with a magnifying lense and found a solder bridge on the QFP, Quad Flat Pack , (Square shaped component) in the center of the board.
I resealed mine around the border with tape and it has lasted 4 months without the error message.
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