Does your ABS light occasionally come on when the car is in drive but stopped, such as at a red light? If so, will it go out if you put it in park and rev-up the engine a bit.

If yes, then could be a bad over-voltage relay, or more likely low voltage at said relay caused by a low charging output from the alternator.

Phil

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'95 E300 Diesel, 264,000 Miles. [Sold it]