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Actually, it is not normal ABS operation. It might be a common problem, but that is very different from "normal." The ABS system is not functioning as designed, and eventually the sensors will fail, lighting the ABS light and disabling the system. If you don't mind not having ABS, no problem.
However, if you want to have the system functioning as "normal" than you'll probably have to replace the front wheel speed sensors.
Some people live with the ABS slow speed pulsing and don't care if the ABS fails at some point. If you are one of those (I rarely use ABS, even on black ice) then don't bother spending the bucks to fix the problem.
It's up to you, and no I didn't replace the rear sensor. I would have left them all alone but the buyer for my 190E wanted it fixed.
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