Check the wires
I won't go into all the details but I had similar problems with my A4. The dealer thought it was am ABS module but when they replaced it guess what - they got a loss of comm error. After a lot of head scratching it turned out the real problem was a MOUSE! Chewed wires do create a 'Failure to communicate'!
-Hope this helps-
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'05 987S
'01 Tundra
'98 Audi A4
'77 AW 440 Maico
'08 KTM 450 EXCR
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