After a birfield rpl about 2 years ago I started getting the abs chatter on slow speed braking turns (like into a parking spot) Seemed worse one direction vs the other. In the past I had solved this by removing the sensor a cleaning it a couple of times but that no longer solved the problem so I pulled the fuse. I figured I had a bad sensor but Toyota wants you to buy the pair in a kit for $500 so I bought one from a salvage yard for $125. The one they sent was a newer style that was different and did not solve the problem. Solution: Pull the metal shim off the bottom of both the sensor mounts. Seems like the sensors are getting weak after 200k miles and this puts sensors close enough to compensate.