I just had a similar case fixed at BWM service. The whole ABS unit was changed - fortunately I didn't have to pay for the unit (1100€) just for the labor. In the beginning the warning light came on occasionally after some riding, then it stayed always on and the ABS did not work. The brakes worked otherwise well. The fault codes indicated an ABS problem which was obvious without reading them. My bike is a non-servo model (2007 GSA). There are instructions how to fix the ABS motor yourself but now I didn't need to do it.
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