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I had the same issue then after a while of ignoring ( 1 month) my abs would actually engage when I would be between 5 an 15 mph in traffic.
I started driving with the voltage read out on test 9 of the DIS and noticed when the abs kicked in while in traffic that the voltage would jump past 16v.
I decided to replace the voltage regulator and it corrected the problem. No issues for the last 16 months.
Not saying that its the solution for you but I took a chance since it was a cheap part (about $60) and was a straight forward diy.
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