used sensors will do just fine. you rly need vag com. i had one of my sensors unhooked and it tripped the light. i zapped it with my vag com and voila.

 

As far as I know, I went in to get my inspection (NYS) and the only reason I failed was for a bad O2 sensor, even with the brake/ABS lights on. I don't really think it matters, as the DMV scanner only reads "P0***" codes. The "P" or the "0" means something, as in emmissions. Your ABS code would not be under that, therefore it would pass.