Sounds like an alternator, especially the fact the ABS light being on. ABS doesn't start till the alternator works.

If there is a change of position due to the failure it is unlikely that just a bearing will solve the total problem. The armature usually hits the field windings in such conditions.

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Steve Brotherton
Continental Imports
Gainesville FL
Bosch Master, ASE Master, L1
33 years MB technician