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Hi, I'm Chad. Welcome to JustAnswer. I'm reviewing your question and I will be posting your reply ASAP.
have you tried un plunging the abs module and try it, does it still beep ?
what scanner you used on it , where you able to communicate with abs module ?
did you use a code reader or vw scanner or equivalent ?
what is the mileage
Please let me know
ASE Certified Technician