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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.
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1 more answer
ABS and traction control system share same wheel speed sensors. It may have a failing speed sensor...you 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.