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I agree that you need to perform the maintenace that is recommended in the manual. Way too expensive to gamble.
You are right on suspecting a computer to be at fault. But I'm not sure if you suspected the ABS/STC Control Unit. This Unit has the inherent design flaws from the 850 and 70 series.
It has a life span of about 5 years or 60,000 miles. When it fails, it triggers a problem code in the other computers since the wheel speed signals are routed through the ABS unit first.
Here's the information I have collected on this subject.
Vitor's ABS Web page
Click on the ABS / TRACS Repair link.
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