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Make sure the fuses are good for the ABS system first, then remove your front wheel sensors and clean them. They're magnetic and pick up bits of iron from the road or the brakes. The buildup causes false readings.
I think it's just a single bolt holding them in. It's the only cable going to the front hubs. I have used masking tape to effectively pull little bits of metal off of strong magnets... that may work well for you.
And then... damn that's a long trip to the dealer. See the FAQ for info on geting codes from the system. Maybe you can avoid that trip.
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Rob Bareiss, New London CT ::: '87 244DL/M47- 220K, 87 244DL- 230K, 88 744GLE- 198K, 91 244 180K, 88 244GL 145K
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