abs code

[jamestgk]

I own a 2003 M45. 140k miles on original chassis and electronics. recently I have been having abs/vdc warnings on the display. turn off car and restart, no light. Lights come on random, and in every driving situation you can imagine. never stays on if car is turned off. ABS activates normally if warnings are off and brakes applied with slipping. i used a Snap-On scanner and it displayed... 23 ABS Motor(lock failure). Any suggestion before I trade it in for a M56?