If ABS light is on,you still have base brakes,just like an older vehicle with no ABS.Not a problem,as a matter of fact I always disable the ABS on my vehicles because I don't like it.
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Had the same problem with my 2002 Saturn Vue. Ended up having a bad speed sensor in right front. Sensor is located in wheel bearing. Sensor cost $90 wheel bearing is $180. Decided to replace wheel bearing. Unfortunately wheel bearing was frozen to shaft. Replaced both front axles, wheel bearings and speed sensors. $500 do-it yourself parts. Not recommended for the average do it yourselfer.
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