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Where is the ABS control module located? on 2004 GMC Yukon

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Typical ABS ECBM failure. Want to take module off and have it rebuilt. Just wanted to know where it is on the vehicle. It's winter and the car is parked outside!
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The ABS control module of your 2004 GMC Yukon is located under the drivers floor, mounted to the modular valve assembly which is mounted to the frame. With the proper tools, the control module can be removed from the modulator while it is mounted in place.
I believe that the ECBM is held to the pump assembly using (4) T-10 Torx screws. There is limited room between the top of the control module (where the screws are) and the floor pan, so you would probably want to use nothing bigger than a 1/4" ratchet wrench with the T10 Torx bit.