ABS Control Mod: need help from the experts...

I've got a '99 and the infamous ABS & Brake light on intermittantly issue...

I replaced the speed sensor on the differential and flushed all the fluid... but the lights still come on intermittantly. The dealership says it's "probably" the ABS control module... which they would be happy to replace for $580!! Couldn't afford that... so I ordered the module directly and am about to replace it myself.

So here's the deal... my buddy tells me that after I replace the module, the ABS light will flash until I have a tech reset the pinion setting in the controller. Is this true? Do have any choice? He says the dealership will charge at least a hundred bucks to do this 2 minute task.

Please help...