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1995 Honda Prelude ABS

What could cause the ABS light to infrequently come on and if I turn the car off and then on again the light almost always stays off for quite time, sometimes for weeks. At times prior to the light coming on there is a clicking sound that appears to be coming from the area of the fuse box and/or there is sometimes a pulsing of the brake pedal when it is applied and/or sometime the light just comes on with no warning. Three of the four senors have been replaced a couple of years ago and recently when the mechanic tried to get the light to come on he could not and the system was working fine.

It sounds like a poor/intermittent connection somewhere. Finding it could take a while. Did anyone ever read the codes behind the light and explain what they were or have they just been guessing and replacing parts?