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

My brakes shutter when i press on them?
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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.
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