Q: Q: ABS Light

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ABS light occasionally comes on. Owners manual says pull over shut off engine and restart. It resolves issue temporarily. This happened last Saturday. It happened again today. What can be causing this? My brakes are fine. I don't see any evidence of brake fluid leaking. The Brake light has never come on while driving. What might be causing this to happen? Thanks for your help.

My car has 80700 miles.
My car has an automatic transmission.

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