1997 Camry ABS Issue

[erikj17]

97 Camry, 191k miles, I posted a few months back on this same issue, however now I have much more information.

1) Bosch ABS unit installed. ABS code is "23" indicating Right rear solenoid valves faulty.
2) With the key "ON," I can hear the ABS unit running. There is a whining sound coming from within and I can't figure out why. This occurs when the engine is not running.
3) Similarly, if I start the car with my foot on the brake, there is a lot of pulsating of the pedal and some awkward sounds all seemingly brake related.

Does anyone know if I need to just replace my ABS unit? Any other tests I can do before doing so?

If I need to replace the unit, anyone have tips for bleeding the entire brake system? I've never done an ABS brake bleed.

Thanks.

-Erik