I have not, but looking at the stuff in AllData, there are a bunch of "C" codes that monitor the ABS system in general.
Each have pretty generic instructions that lead to the diagnostic, most start out with power checks from fuses, then wiring, then replacement of parts. I looked thru a bunch and that's a very standard process.
Depending on the code and possible experience of the Tech, they just might know, but the intermittent stuff can be a bear.
Fortunately the ABS is monitored continuously from what I read, so there is no pre-qualification needed to supervise this system.
When the light is on, the system should have some diagnostics available to say what's up.
Without knowing what codes, here is a general document for ABS verification I found.
If they were finding say the following code here is how just that one works:
C0020-01-ABS PUMP MOTOR CONTROL - GENERAL ELECTRICAL FAILURE
When Monitored: This diagnostic runs continuously when the following conditions are met:
- Ignition on.
- No under voltage DTCs set.
Set Conditions:
- Anti-lock Brake System (ABS) Module has detected improper voltage level internally when the motor is not running.
- Anti-lock Brake System (ABS) Module is not detecting the proper response when motor is running.
Default Actions:
- Anti-lock Brake System (ABS) indicator light illuminated.
- Electronic Stability Control (ESC) System indicator light illuminated.
- ABS disabled.
- ESC disabled.
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