My ABS light is coming on. I had my front and rear brakes done about eight months ago and at that time the brake fluid was also replaced. Before the light comes on the brakes on a little mushy, but brakes fine even with the light on. I have replace the relays inside the ABS unit and check the sensor in front and rear.
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If your brakes are mushy, you may have air in the lines. The ABS unit is a secondary pump. If you bleed the system, and its still mushy, then you may have a weak master cylinder.