Sublettd, Check your tyres and inflation pressures. Your pulling problem may be related to different rolling radius of the wheels on each side and the ABS is interpreting this as wheels rotating at different speeds. It thinks this is wrong so shuts itself down.

I have heard of this happening before when someone replaced a tyre on one side only and left the part worn one on the other.

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Mick J
'08 Chrysler 300CRD (MB OM 642 engine)
'95 E220 estate
'89 230TE (R.I.P.)