I am Teh Edumacator.
Join Date: May 2005
Location: ATL, London, and Barcelona
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Definitely could be the sensor.
Also, know that ABS modules on the E39 fail quite regularly.
You might also try cleaning the contacts on the ABS plug in the engine bay with rubbing alcohol. My cousin's E39 528is had ABS module symptoms that went away permanently just be cleaning all of the contacts.
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1999 E39 540i/6-VF Stage 1 S/C, Dinan exhaust, Dinan strut+shock braces, Dinan ltwt flywheel + clutch, Dinan Brembo BBK, Dinan monoball, H&R Springs, Koni Yellows, M5 sways, Dinan forged 18" wheels, &c.
1995 E38 740i. Highly modded. Faster than you.
Sold 2-28-07: 1997 E36 M3/4, 8-30-05 RIP 1997 528i
Lindsay fan club member.