I have the same W22 chassis and can tell you that the ABS error drove me nuts for a year. I have a OBDII unit that I bought from Amazon that works with my phone, but it is totally useless for this issue. Perhaps there is one that would work better, but I imagine it would not be cheap. I bought 2 of the replacement ABS sensors and replaced two of these ( at random), cleaning and reseating the rest. The ABS code went away after driving it a little while and I thought that I was a hero, but after about a month the code light was back on so I bought one more sensor and replaced a third one of my sensors which worked again for another month. You may have guessed it... I bought a 4th sensor and replace the last one and it has been many months and a 4200 mile trip without the ABS code coming up once (hope I didn't just jinx myself here).
Yes, it is possible that cleaning will help by itself, or perhaps you have a chipped tooth on the wheel, but my guess is that you have the same crappy Hall effect sensors that I have dealt with and you will eventually buy new ones for about $80 each and replace them yourself, at least saving the shop fee for doing this trivial task.