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Bear with me as we just got a 98 and the brake fluid is filthy.(40,000 miles on what appears to be the original fluid) I want to drain and replace the fluid but I don't want to screw up the ABS.
I would call the dealer and see what they want to do the flush with the Tech 2. This will get all the old fluid out of the ABS system. If you are going to keep the car for a long time I would do this. If only for 3-4 years then just flush it yourself.
Remove all the fluid you can out of the reservior with a turkey baster and then fill the reservior with fresh fluid, then do the flush.
If the car is a 6 speed also remove all the fluid out of the clutch reservior and wipe out the inside with a paper towel. then refill with brake fluid.
One thing to think about is why your fluid got dirty in the first place. It's due to water absorbtion, mainly. Folks racing their cars will flush out their fluids multiple times a season, but even non-racers need to get their system flushed every 2-3 years. Also, the ABS system will get almost all of it flushed out normally. If you're really worried about the fluid in the ABS, then go out and get on the brakes hard enough to activate the ABS; that'll move some fluid around! :D
Seriously, though, don't wait another 4-5 years to flush it out again.