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Hello and welcome to the forum.
Usually when this happens,it means there is a split ABS ring somewhere.The rings are on the CV joints on the front and on the hub,somewhere,on the rears(depending on wether you have rear discs or drums),and the wheel speed sensors use them to send information back to the ABS unit.
What happens is the sensor picks up the fact that there is a bigger gap between the points on the ring where it is cracked/broken,and thinks the wheel is locking,and triggers the ABS system.
Depending on which one is damaged,the rings are sometimes available seperately,othertimes you have to buy a new Cv joint/driveshaft/rear brake disc.
Hope this helps.
I'd rather push my Alfa than drive a BMW....
Currently in Lagdti's garage:
2004 Saab 9-5 HOT Aero and a 2001 Audi A3 1.8 Turbo