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The easiest way is to find a wide open space with limited friction (ie: empty parking lot with wet leaves, ice, snow, grass, mud, etc.) and stomp the brakes. If the wheels lock, you don't have ABS. The other way is to pop the hood and see if you have the ABS module and related equipment, or pull a wheel and see if the speed sensors are there, but you have to know what to look for, therfore the first way is the best for the technically unsofisticated. I guess another way is to look for the ABS light which appears briefly when you start the car. If you see it, you have ABS. If there is no ABS light, you don't.
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