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I followed the process from here and got the ABS to flash. But I have trouble to code it. I think it's 23 and 41 or 51. Can someone confirm this? Here's a youtube video I uploaded. Thank you. https://youtu.be/1piYPVNTSwE

Thanks for the instructions to check the code without going to the dealer. But I have doubt about my interpretation. Can some one interpret my ABS light? I feel it's a 23 and 41 or 51. I am not sure about this. This is a 02 Legacy GT. Here is the video I uploaded on youtube. https://youtu.be/1piYPVNTSwE