If you end up changing the ABS unit (like I have) then make sure you get a "matching pair" ie the ECU and ABS part its bolted to come off the same car and have matching HW and SW numbers to your old unit. ALso to warn you, if you change it then you will always get a scanned fault code regarding the change when you run a scan - the only way to avoid this is to fit a brand new ABS module/unit and then it codes clear from new by Audi. But a second hand unit thats all working fine should cure the warnings coming up if its the old unit at fault
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Confidence is the feeling you have before you know better . . . . 
Audi A8 D2 3.7 Quattro Sport 1999 FL - Melange
2nd Place Winner - A8-Freunde Annual German Meet 2012 at Edersee
20" x 9" Bentley GTC Wheels with 385mm W12 Front Discs & Bentley Caliper Covers, Front Lowered on Coilovers, Xenons, Combined DRLs and LED Foglights to modified OEM front fog lamp position, Alcantara/Leather, Full Black Alcantara headlining + pillars and blind shelf, Bespoke Flat Bottomed Sports Steering Wheel, Dark Myrtle Wood, Autodim Mirrors, Bose, Blinds, Digital TV, Ski Hatch, Modified rear exhaust section for extra V8 Burble 
Audi S8 D2 Final Edition 2002, Avus Silver with Red Leather Interior
Tiptronic with Sport mode button, Sony rear entertainment package, Bose sound system, Audi Navigation Plus, 20 inch Final Edition alloys, Full Cat Back Stainless Milltek exhaust, giving a great V8 burble
Audi A8L D2 4.2 Petrol with LPG - Ebony Black
Audi A8L D4 FL 4.0T Petrol twin turbo - Havana Black
Audi A2 1.6 FSi Sport - Dolphin Grey with Votex body kit and Red Leather Interior
and some other A8's A8L's and Mercs
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