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Actually on the 96-99 Taurus, the Bosch-built modules were very failure prone. You can get one from a junkyard, but then bleeding is the problem. Swapping the ECU into the old HCU won't work, I tried that. I don't know about reprogramming anything, though, I don't see any mention of that in Mitchell's HCU replacement procedures. Bi-directional ABS scanners are still crazy expensive unfortunately. I would call around and see who is willing to install a used/rebuilt module for you.

This is all assuming that the module, and not a wheel sensor or wire, is the problem of course.
 
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