Symptoms: Prolonged motor cycling-whirring sound upon startup. Squishy brake pedal and rig lurches forward when almost at a stop, while making motor cycling-whirring sounds.

Physically inspected all connection harnesses at the ABS unit as well as speed sensors at each wheel and they seem to be fine. No breaks etc.

Picked up a complete ABS/Master Cylinder unit from a local guy for $150 so why not swap it out to see if it’ll help.

While researching bleeding procedures I stumbled upon the 4th Gen site and they seem to be split into two camps: normal bleeding procedure and those saying the ABS actuators had to be tripped via some sort of Toyota software and a special connector. Apparently if you leave the ABS unit alone you can bleed old school but if you replace the ABS unit, like I’m going to do, you need the software? Others say to just drive the car hard, brake like a lunatic to trip the ABS and then bleed.

If ABS actuators are not tripped and opened, air may accumulate inside the ABS unit itself?

Some say bleed fronts then rears, others rear first since it’s furthest from the ABS unit. Others say the front and rears are completely separate systems, with the rears being controlled by the ABS unit and software is needed.

I understand my 02 and the 4th Gen share similar brake systems so I’m wondering what to do.

What is the most effective way to bleed an 02 when replacing the ABS/Master Cylinder Unit?

Any clarification or simplification would be greatly appreciated.