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Your abs valve body has debris in it
Find a used one on eBay and swap your valve bodies over this way you don't have to code a new DSC you want to use your old one that's in your car now with the newer valve body do a full brake bleed and I recommend going ahead and bleeding out all the old fluid and refreshing it
I just had to do this on my daughter's X3 2011 model due to the front right brake locking up just solved it for less than 250 bucks
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