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There is no road test method I know of. There is a test unit the dealer can attach that runs the RABS system through a series of tests but most service departments are loath to do this as it more often than not, creates new problems.
If you have no problems with your RABS lights being on now, be thankful. Let sleeping dogs lie. The '91 units use an unusual master cylinder that is prone to RABS problems.
Thanks. Sound advice in this case. My CV makes a 2 second buzz sound when the car hits 13 mph. Drove me nuts. Turned out to be the ABS cycling in test phase at 13 mph. Now I like the sound.... I know its functioning.