Couldn't find anything exactly like this so figured I'd ask

00 B5 S4.

Sometimes, maybe every 6th time I drive it if I take off hard as soon as I come off the throttle the red brake light will flash, ABS light stays constant. Both will go off after driving maybe 1/4th mile more. Basically the same symptoms as when the vag-com software is running ABS test.

No codes that I was able to pull, brake fluid is at full level.

Thanks