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abs puzzle!

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I have a 56reg tucson, 43000 mls. abs lights check as normal and then go out - no problem.
When coming to a halt slowly and normally more noticeable with light braking, the abs will occasionally kick in. This may happen several times or not at all on a trip.
Local garage tells me they have driven it and can find no mechanical fault and there are no error codes stored. Can the rear sensors and rear cogs be checked without removing the hub? The fact that the abs does not show a fault would suggest that the control unit is getting a signal from one of the front wheels that it is slipping, wrong information in an expected format! is this a 'kodak' or developing fault on one of the front sensors not able to be recognised by the ecu? or is it likely to be a fault in the toothed ring on one or both front wheels, not properly diagnosed by inspection? I would be grateful for any ideas!
boba

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