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Hopefully the cheaper option.
Edit. I've a similar issue with random faults like yours. They were intermittent and able to be cleared. My mechanic advised ABS sensor needs replaced. Out of a lot of faults, there was only one ABS related, the rest were stability, tyre pressure, anti skid type faults.
TGR
Either the sensor itself or the wiring harness to the two rear sensors. According to other owners, expected lifespan of the sensor wiring harness is only a couple of years...