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Changed motor bushes way back to fix my 335i. Search well known website for "abs pump motor brushes bmw" or similar. Took me an afternoon to rebuild the motor, you need to be reasonably experienced in this stuff and quite brave. The motor wasn't designed to come apart with normal tools so you have to be a little destructive and there is a risk you will destroy the unit beyond repair. I bounced the armature on the floor when it came ut of the vice but fortunately it survived. Spun motor up before and after, didn't seem to be a huge difference but fault went away and never came back.
Bled the brakes, stamped on the pedal 2 - 3 times at walking pace and no further problems.
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