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Would I have to have the abs system scanned at a dealer?
No, this does not have to be done at the dealer. You can not use the cheap basic scan tools, they are only for the check engine light. The scan tools that do the abs system are a bit more advanced and usually cost around $200. Most shops will have one. Stop by an independent shop and have them scan it for you, they will likely charge you a minimal fee for doing this. It only takes about 5 minutes to do, so don't let them charge you a bunch of money.