My 1996 Toyota Avalon's ABS light keeps coming on. It's off when I start the car, and even when I go in reverse, but as soon as I start accelerating forward it comes on. Sometimes when I brake, you can hear a buzz/vibrating sound coming somewhere around the brake pedal. The brake pedal will vibrate at the same time. The dealer said that the ABS system is deactivated when that light comes on and it costs $100 bucks just to see what's wrong. Any ideas what's wrong or if it needs to get fixed?
 
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