More than likely your problem is a bad ABS module. A lot of them are sold at the dealers/agents for more than $2,000US. The much cheaper solution is to remove the module yourself and send it to Module Master. I am not affiliated with them, but I recently replaced my module and the dealer said the problem was a bad module and a bad throttle body. The throttle body had been replaced at 26,000 miles and is a clean as a surgery room inside. I sent the module off, modulemaster.com, and for $140 they rebuilt the module. It was the solution to the "Fail Safe Engine Mode" problem.

Disconnect the battery ground lead. Move the relays near the pump out of the way. You will need to CAREFULLY unscrew and loosena couple of the pipes going into the top of the pump. Then, four screws hold the module to the pump; one screw at each corner. The screwheads have a funny head but you may can find a tiny socket to fit them. Three are easy to access. One is no fun. Send the pump toModule Master. Follow the shipping instructions on their site.When the module is returned screw it back onto the pump. Be careful with all this. Then, CAREFULLY screw the piping connectors back into the top of the pump. If you feel too much resistance when re-attaching the pipes, STOP, and try restarting the little connectors back into the pump.

Forabout $150 it would be worth rebuilding the ABS module before even thinking of the thousands to be spent on unnecessary replacements. Dealers are making a killing on these fixes.