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ABS light & Brake light flashing

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hi guys I drive '10 legacy 2.5i and my it's been throwing ABS, Traction control, and flashing brake lights on the dash. Tried to reset by unplugging battery, fuse but nothing works. These come on instantly every timei start the car. Went to subaru dealer and got it checked out for $130 diagnose fee. The code on the sheet shows:

C0073-abnormal g sensor

C0071-sas malfunction

C0074-master cylinder sensor output

The dealer says they have to replace the ABS module and the cost would be $1040 plus tax which is way more than i expected.(Also before going to dealer i went to a different auto shop and their machine also showed steering sensor issue.) Has anyone ever have this issue with their car?

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