2013 Toyota Corolla - intermittent ABS/tracking light

Not seeing any ABS related tsbs. While I expect your shop’s diagnosis is probably correct, other common things that could cause this sort of thing are the brake control module, acc/decal sensor, steering angle sensor, traction control switch, wheel speed sensor, & yaw sensor. If the dealer guarantees the $2500 fix will completely resolve the problem, I’d say go for it.