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How do i reset the ABS system in a Hyundai 2003 XG350? on 2003 Hyundai XG350

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My wife slammed on the brakes going 15 mph and the ABS kicked in. The car still behaves like the ABS is in effect, it makes a thumping sound when you step on the brakes and the gas pedal does not accellerate.
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ok, how do i obtain the abs codes? can the local autozone download them? or is it something i can do at home?
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