My Camry intermittently, upon starting, will have ABS light flashing and at the same time the car misses. These two things always happen together. Mechanic could not duplicate the problem, and no codes were found.
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Does this car have a vacuum brake booster? If so, I would inspect the check valve for the vacuum to the booster.
Have the battery and alternator checked. Low voltage can cause all sorts of gremlins.