It turns out that many of the ABS systems can be repaired by replacing a faulty controller board. I believe that the dealer price for this can range from $800 - $1,000 while an independent mechanic can do it for about $650+. Circuit boards shouldn't be faulty like this, it was a faulty design that should be covered by the warranty but apparently it is covered on the lower-end VWs and not the Audi...one would think that the customers who pay for quality, brand, service and extras would be treated AT LEAST the same as the customers who don't...go figure.
Audis and VWs between the years of 1996 and 2001 have had a large number of problems with the ABS control unit. If your ABS light goes on and the brake light flashes while the car beeps at you on start-up, then you probably have a bad ABS control unit and it will cost $1,500 - $1,700 to repair! Audi and VW should recall these cars and repair them!