I have a 2013 Ford Edge. I am posting this just to add what I've been doing. I got an OBDLink cable that connects to my PC via USB and connects to the OBD on the car. I use Forscan software, and it gives you an option to bleed the ABS. Whenever my pedal goes soft, I just run this routine. Everything will work for months to a year. Before I got this software, what I was doing would go to a parking lot and go into reverse and slam on the brakes to engage the ABS. Both ways worked, but it was hard sometimes to get the ABS to engage. The first time my brakes had problems it was winter with snowy roads so it was very easy to get it to trigger the ABS but in the summer wasn't as easy. I've been doing this for a few years now.