Recently, the yellow "ABS" indication started popping up while driving (seems like randomly)-comes on and stays lit-sometimes statys on, sometimes resets right away, sometimes resets after a few minutes. The red "Brake" indication flashes, and the audible tone beeps a number of times as well. Six months ago, had the driver/front ABS sensor replaced for the typical chattering just before complete stop. Brake fluid level AOK, nothing dropping under the car, but has 117K on the odo, and never had front brakes done. Is this the warning for a brake job? No screaching like so many GM cars on the road?

 

This does not indicate worn brake pads.

 

I recently purchased a 98 A4 Avant w/ 82k that has this problem. The dealer/mechanic said that (at least in my case) this is a problem w/ the ABS pump, which for some reason doesn't work well in the A4s after a few years, although I believe that they have gotten better. This mechanic (out of Denver) said that they have found a couple of places that will repair the pumps for a couple hundred bucks.

If this is what your problem is, your breaks will work fine, you just don't have the anti-lock working.

 

Could be a dirty ABS wheel sensor.