Hyundai i20 ABS problem

HI,

I have Hyundai i20 Feb 2010 model asta. And its now out of the warranty period. While buying the vehicle i was excited with all the flashy features of the cars of which one was the ABS system which is becoming quite problematic now

So the ABS sign has been showing on my dashboard since quiet sometime, because of which the break paddle gets jammed sometimes when i am in low speed, below 20kmps. i recently visited the hyundai service centre which i am always reluctant to do as the costs suggested by them are exorbitant, which was the case now as well. so the technician applied the GSCAN tried to get rid of the ABS sign which reappeared as soon as i left the service centre. The technician told me there is a problem in both the braking parts in the rare wheel and even the ABS motor is showing some problem

The solution provided
Change One braking part in the rare wheel and see if the errors go - Costing me some Rs 6000
If the error persists change the other braking part of the rare wheel and the motor with a total cost of Rs 42000 which is ridiculous costs.

Need some help in figuring this out and a way of managing this issue. Can the ABS system be deactivated and the car can be used as a non abs car. Or any other suggestion will be more than welcome

I have read a lot of problems regarding the I20 abs problem on this forum and many other forums will be great to find a solution which is not a killing on the pocket

Thanks in advance

Cheers
Sunny