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Too little to go on.
The car runs from the alternator when running. If the alternator drops for a second you'd get abs disabled, and you'd probably be able to restart right away without the wait.
Definitely do a voltage drop test on the Alternator connection (measure from alternator bolt to the B+ jump point while wiggling the cable and just after starting with some loads on like the high beam headlights and seat heat).
Then measure grounds (From engine block to B- on the fender). You should only see values like 0.1v or less on the cables. I'm not sure where the actual engine ground is but you can wiggle the ground by revving the engine.
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2011 E70 • N55 (me)
2012 E70 • N63 (wife)
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