I would try unplugging the abs module and see if you can drive without getting failsafe. The time delay is symptom of how intermittent abs module will trip the trifecta. I'm guessing a can buss may be connected to the abs module and is getting shorted when heat gets into the abs module.

Not sure if the speedo will work when it's unplugged and I wouldn't drive more than 100km with it unplugged might get a tamper dot.

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)