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I would say the abs works, not sure though, if you are only testing the rear wheels. In this case it might be hard to tell if the system is fully functioning even on gravel. You could try a panic stop in a parking lot in the rain. I never am overly concerned about reckless driving tickets if I am testing a car, just find someplace out of the way to try stuff and BE CAREFUL no one is behind you or around at all, such is life in Cali I guess that you have to worry about this.
One thought also is since warning bulb sockets can inadvertantly put in to incorrect holes in the back of the dash, make sure the bulb socket is in the correct hole, you may have a different problem than you think. Holes are numbered and the socket wiring should have the same number.
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