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If it is a coincidence or not but at 160 km/h my ABS goes off, i.e. the dashboarlight comes on. Tested it on gravel and indeed the ABS is OFF. Are the sensors worn out and/or dirty and cannot follow high traveling speeds anymore ?
Shutting down the car means resseting this ABS phenomena until you drive 160 again.
I've had this. You'll probably find that with time, the speed required to make it switch off gets lower and lower.
Its a dirty sensor. VAG-COM will tell you which wheel is at fault. Cleaning it should help, although you may end up having to replace it.
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