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Audi A4 B5 Brake & ABS Issue

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Hello guys.
I have problem with old Audi A4 B5. The case is when i am braking from 120 km/h or more I feel like ABS working and brake pedal goes down and feel like all car goes on left side. I checked and replaced every ABS sender ring and sensors. It sees good values from all the wheels. When I unplug fuse from ABS car works and brake good. I even changed whole pump with module and the same thing.
Maybe anyone had ever the same problem?
Can anyone give a location of G200 sensor in this car?

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