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2005 Toyota Yaris T spirit D4D. ABS Problem.

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Hello all, Above problem occurs when moving off and letting both clutch and brake pedal up. Does not happen when I am on the flat because the brake pedal is not necessary and does not happen if I use the hand brake instead of the brake pedal. Does not happen during normal running. Have serviced the brakes which are all free and working. I have a suspicion that it is something to do with the switch operated by the brake pedal and/or whatever it is connected to. I would appreciate any helpful ideas anyone out there may have please?  

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