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This actually happened to me some time ago (sometime during the summer of 2013 now that I think about it).
I was driving home from work and both the Slip and ABS lights came on while slowing down for a red light. There was no one in front of me and it wasn't a panic stop or anything like that it was just normal braking. I turned the car off and back on while sitting at the light and they never came back on again so I forgot about it until I just saw this thread.
This happened at about 14,000 miles give or take and I'm at about 39,500 miles now, so I've put more than 20,000 miles on my car without this issue coming back.
In terms of taking it to the dealer, I would recommend flashing it back to stock even if you have to drive the car for a few days for the issue to come back. Depending on the dealership, they are just waiting for an opportunity to deny warranty coverage and a modified ECU is the perfect catchall excuse. Even if they can't prove anything it would certainly delay getting repairs done and cause plenty of aggravation you don't need.
Some dealers are mod friendly but I wouldn't take the chance unless I knew for sure.
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