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How is it done on the 1st gen frontiers?
 

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If you take it to a shop I think they have special tools/machines to do it. But, I've read or heard that if you bleed the calipers and wheel cylinders, then take the truck out and brake to activate the ABS, and finally bleed the calipers and wheel cylinders again, you will have gotten the air out Please double check me, but that's what I think you do.
 

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It's in the electronic service manual, no special ABS requirement. 4WD may have an additional bleed screw, load sensing valve.
 
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