Slip Control (ABS) integration expert here. You ABS or ESC system will not work in accesory mode at all. If you key the car back into ignition without turning the car on the ABS module will turn back on. It should not activate at all, but you could have a faulty module, probably Advics or Bosch who's failsafing is jacked up. If you think it is doing it while the car is in acc then you are mistaking it for something else.
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