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I would suggest replacing all fluids incl: Engine oil/filter, transmission oil/filter, differential oil, coolant flush/replace thermostat, brake fluid, and spark plugs. Some might consider this overkill, but some of these changes are ignored and can greatly shorten the life of the powertrain or brakes.
Usually, you can get the warning light to go off by bleeding the air out of the system. Sometimes, the air bubbles will work themselves back to the master cyclinder and reset itself, but that take a few days. Make sure your brake fluid is full also.
A hard brakepedal and poor braking means the brake power booster not working.There is a large vacum line that supplies power to the brakes and a check valve to ensure the vacum stays constant.If vacum system is good then booster is bad..most times the brake fluid leaks out the back ofbrake master cylinder and eats up brake booster
the master cylinder could be defective or the proportioning valve is stuck. You can try slamming the brake pedal down at a stop. this may reset the valve, if it goes off thats your problem. if it continues to stay on pull the E Brake or parking brake see if the pedal rises up f the pedal comes up it may mean your rear shoes are worn and the wheel cylinder or caliper seal is leaking. to test if all brakes are working go about 10 mph Be sure you e brake works then hit the brakes once you stop get out and look if there is rubber on the ground on all four wheels. do this in a area where it's safe and you can come to a atop before hitting someone Else's property or going over a cliff. If the front brakes work then your rear are not working if there is no marks on front that means there is a problem with the front brake system. remember the light is a warning jamming down the brakes may cause the master cylinder to fail so be sure your mechanicl emergency brake works good before doing test. otherwise you may experince the pucker factor, one guy at a shop I worked for pushed his tool box ouy yhr tindoor he didn't check the e-brake before doing the test in front of the shop. Opps.
I would have to plug a diagnostic computer into the car and interrogate the ABS controller for diagnostic trouble codes to find out what part of the system is causing the problem being detected and triggering your light to illuminate.