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A common, free fix for ABS light troubles is to clean the front wheel sensors. They are magnetic and pick up particles of iron from the road and the brakes. Pull them out the back of the backing plates, and clean them off by wrapping them in masking tape, which works nicely to remove particles.
This fixed about 1/2 of the cars we saw at the shop with similar symptoms.
Beyond that, it gets more expensive.
Good luck.
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Rob Bareiss, New London CT ::: '87 244DL/M47- 230K, 88 744GLE- 220K, 82 245T-181K Also responsible for the care and feeding of: 88 745GLE, 231K, 87 244DL, 239K, 94 855GLT 189K
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