My ABS light is on and stays on? on 1996 Lexus LS400

My brakes shutter when i press on them?

Asked by for the 1996 Lexus LS400
have abs codes scanned and post so we can adv. the frt brake shimmy is most likely warped rotors.
1 more answer
ABS and traction control system share same wheel speed sensors. It may have a failing speed will need to take it to a shop that has capable diagnostic equipment to do proper diagnosis. The shuttering could be the abs system working when it should not be due to failed speed sensor or simply a badly warped brake disc.