I had the same problem with the intermittent ABS/TCS light coming on. After a little research, I discovered it was the ABS Module, I found a site online that rebuilds the abs module (module master). They gave directions on how to remove it, package it and ship it. They returned it quickly and I reinstalled it and it worked perfectly. It was about $150 with shipping vs $1400 the shop wanted. A couple of the screws are difficult to get off, just a warning.