I just did the exact job. Did not disconnect the battery.

I removed the ABS module (had to remove driver's side headlight assembly, fan and fan shroud in order to gain access to the 6 torx screws. Sent it off to Matt at CheapABS for repair ($150 total cost).

Reinstalled and everything is working again. No more trifecta lights.

My symptom was: trifecta lights would come on when the engine compartment heats up. ABS module was defective.

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2003 X5 4.4i Titanium Silver