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If you want to fix whats actually causing it your going to need a lift and some time (if you dont have the GT1 BMW scanner). The first thing to do is take off all 4 wheels (good time to clean all the brake dust out from the backs of the rims) pull out and clean all 4 wheel speed sensors. When you put them back in start up the car, good chance the lights will be off and your all set. If not id buy one new speed sensor, take out one old one and install the new one, check for the lights, if they are there try the new sensor on another wheel untill you find the one that wasnt working. If you try all 4 wheels with no success then the stealer was right, your ABS modual is in need of repair. Look up modual masters for a cheap fix.
 
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