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the abs valve assembly is under the drivers seat mounted on the frame if a gear went bad it will keep trying to move the valves it has a electrical plug on it and you will see all the brake lines go in and out of it
Your brake calipers may be sticking to the brake rotor causing your abs sensor to come on. If it sticks to the rotor for an extended period of time, it could cause the caliper to actually weld itself to the rotor. I am assuming it is doing this in the front. If this is the case, you will need to replace both brake calipers, both rotors and a new set of brake pads. It is more economical to put the better parts back on it, if you can afford it.
It sounds like a faulty sensor wire on one of the calipers, I'd check the front first because they move around more than the rear. If the brakes have been replaced, sometimes the sensor wires don't get instaaled right and they either don't make contact or they get broken, difficult to put in unless you have experince with the new brake systems.
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