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The ABS Control Module is out. Common problem on GMC. I have a 2001 GMC Yukon that I just fixed. Here is how:

Thanks to one of the other forums for this information. I tried this solution and it worked great. I had it back in under a week. The hardest part was removing the module which is in a tricky spot under the frame on the drivers side on a 2001 Yukon. They are located in different places on different vehicles...some are lucky enough to have it mounted under the hood! You have to use a torx bit socket to remove. Be careful not to strip it out. I think if I had to do it all over again I would have just taken it to a body shot and negotiated a price to remove it for me. I can't imagine they would charge more than $50 to do so. Getting it back on was much easier for some reason. My total cost was $171 which included the rebuild and the return shipping. Got it back in under a week from ModuleMaster.com and they were very nice on the phone.

The dealer will charge you $1000 - $1500 to fix what you can for under $200!

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Q: 2002 gmc Yukon abs and brake lights are lit on dash noise from outside vehicle under drivers seat brakes work fine abs does not work?
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