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I had the same problem with my 1999 Alero. The easy fix was one of the front wheel pigtail sensors was faulty. This first caused the Trac on/off and ABS lights to come on when the wheels were turned either hard right or left. The lights then remained on permanently after a few months. I eventually had to replace both front wheel hub assemblies within 2 years and the problem is now fixed. So first try replacing just the sensors and hopefully will not have to replace the hub assemblies.

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Q: What would cause trac off trac fail and anti lock light comes on and stayed on a 1997 xj6 jaguar?
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