You need to find the exact code that is causing the problem.
I had a problem with my 94's ABS years ago. I could hear the ABS pump coming on way to often but the light never stayed on. I believed the dealer when they said "as long as the light doesn't come on it is ok". Well they were wrong but it was too late for me and my warranty. When I took the first long trip the light did come on after 45 minutes...code was "pump over run" or something like that.

Honda agreed to pay for a new modulator/pump and I just had to pay for the labor...around $200 or so.

Too bad now my car has only $113K and the engine is making a strange noise tapping noise when hot around 2000 RPMs......they still can't tell me what the cause of it is. May be rod or main bearings...

Michael