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Hello and welcome to JustAnswer BMW,My name is XXXXX XXXXX it will be my pleasure to assist you today.
yes you would need to have it programmed by the dealer if you replace it yourself.
yes a failed abs control module can prevent the transmission from shifting if it caused the transmission to go into failsafe mode (aka limp mode)
I would suggest you contact BBA Reman and/or Module Masters (you can find both on google) as one of them might be able to repair the module for you for around $300, and then you would not need to have it reporgrammed.
I hope that is helpful, please let me know if you have further questions, or if I can clarify anything for you.
Best wishes to you with your vehicle.
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thank you in advance.