Hyundai Forum - Hyundai Enthusiast Forums - ABS, ESC OFF and BRAKE warning lights come on

I have a 2007 Sonata, V-6, with 100K miles on it. I bought the car with 26K miles when it was 1 yr. old, with a clean CarFax history. The ABS, ESC OFF and BRAKE warning lights are coming on each time I drive it, with the ESC light coming on for several seconds along with the others, but then only the ESC light goes off. The other lights remain on until I turn the car off. Problem started about 8 months ago, when these lights came on during one drive, then did not come back on for a few weeks. The problem became more frequent, and for the last 2 months the lights come on every time I drive the car. They most often come on sometime after driving between 3 – 10 miles, but occasionally they will come on after only 0.5 miles. The lights never come on when I’m using the brake pedal. Most often they come on when I have the cruise control set, and occasionally when the lights come on the cruise control will disengage. I finally took it to the dealer, and they said I needed a new ABS controller and brake light switch because there was ‘fluctuation’ in the hydraulic lines of the ABS system. They wanted to charge $1700 to replace both components without a guarantee that it would fix my problem. I replaced the brake light with a new OEM switch, but the warning lights still come on. The brake lights work, and the master cylinder is full of brake fluid. I have a couple of questions. 1) Is it possible that the ABS system has air in the lines, and if so is there a procedure available for bleeding the ABS system? 2) Is there a scan tool available (either hand-held or for laptop) that will read and reset the Hyundai ABS error codes? From what I’ve read on various websites most scan tools are not compatible with Hyundai’s system for reading and resetting ABS codes. I’ve been told with these error codes present the car will not pass state inspection, which prevents me from renewing my tag, which is due next month. Thanks for any information you can provide.