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Almost forgot, you should check your parking brake. Obviously, when you set the parking brake, the brake warning light comes on. Its a long shot, but if the parking brake switch is broken or acts up, then that will trigger the brake warning light.
Moving on ....
Bleeding ABS and regular brakes is done the same way. The only time you need to worry is if say you took out a brake caliper and didn't plug the end of the brake line, then the brake fluid would leak out eventually leaking from your ABS unit as well. Thats when you have trouble because you will need a special tool to force the abs unit to actuate so you can bleed the air out.
If your system is sealed and has a little air somewhere in the master cylinder / reservoir, you can bleed that out similar to a regular brakes since the ABS unit does not actuate, the brake fluid and air pocket should flow right through.
I would recommend that you exhaust all options before bleeding the brakes since you only want to "break" open the brake system when you have to change calipers / wheel cylinders or change fluid.
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