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The four lights on my dash came on 2012 Ford F-150 lariat. This might indicate that your abs sensor might be bad.. this is my method of troubleshooting and fixing the abs sensor.
Innova 3040 scanner
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Innova 5610 OBD2 Bidirectional Scan Tool - Understand Your Vehicle, Pinpoint What's Wrong. amzn.to/3vL4nrg
Innova 1000 OBD2 Scanner Bluetooth - OBD2 amzn.to/3Of8ja5
Motorcraft HUB353 Hub-Wheel with speed sensor
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Audio was captured using Rode Wireless GO II Dual Channel Wireless Microphone System
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I used an iPhone 13 Pro cinematic camera profile. Apple iPhone 13 Pro, 128GB, Sierra Blue - Unlocked (Renewed)
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#ENGINECODES