We started getting a "brake fault" warning light followed by a large "STOP" lasting about 5 seconds, then it would clear. This would happen 1 to 3 times during the first 15 minutes of driving when you first start the car in the morning, then you wouldn't see the warning all day. The dealer could not find any fault codes so they keep the car over night. The next morning when they took the car for a test drive, they confirmed the "brake fault". They told us we need to replace the AMS module. I thought it would be some type of sensor or connection, since it only happens in the morning and only last about 5 seconds. we only have 58,600 mile on the car. We are going to seek a second opinion. If it is the ABS Module, we feel it should be covered under warranty since we have low miles and our just outside the warranty. Thanks Todd