I have a 2002 Hyundai Santa Fe. The AB@ and TCU

Sometimes a loose gas cap will activate the chk eng light. Forget it.

The light is telling you there is a problem with the system and as long as the light is on the system is disabled.
You need to have someone scan the body computer for trouble codes.

Hello! the 2002 Santa Fe has optional All Wheel Drive (AWD)...Which is permanent (can not be turned off)...If the option is not on your vehicle then it is Front Wheel Drive (FWD) only...The VIN # will tell you if the option is on your vehicle...

Guru...Saailer

I’m happy to help further over the phone at https://www.6ya.com/expert/david_6df67de3b14de867

Are there any malfunction lights coming on? If so then it could be a wheel speed sensor. sometimes people confuse rotor vibration with abs pulsation.

Probably bad wheel bearing

Pedal meant to vibrate when abs is controlling braking on slippery surface otherwise abs unit fault

Alt shoud be putting out 14 to 15.2 volts.

dear friend-it sounds like one of the sensors(wheel)is faulty or one pne of the turnwheels came loose.

Im having the same problem with my 02 Santa Fe. How do i go about fixing this problem? And is it costly? Please help

There is no ABS brake light. Take the vehicle back to whatever service center/garage did the brake work and tell them to fix it.