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There's a way to read ABS codes by grounding a terminal on the small black diagnostic plug under the dash. I can't ever remember which terminal it is exactly, but it's been posted before here. Turn the key On and it blinks the codes.

 

More often than not its going to be a wheel speed sensor problem. Either the tip of the sensor has a bunch of metal filings stuck on it, or possibly the sensor has been crushed to death by rust building up around it.

A broken or heavily rusted tone ring on the axle can also throw off the sensor reading. That should be checked before replacing the sensor.

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