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Not sure why the dealer is telling you may get charged diagnostics. Is there anything indication as to why they may think it would not be covered like damage?
The reason you scan tool is not reading any codes as its most likely reading the engine codes not the ABS codes. You may try to get Autozone/O-reilly to scan the code for you if they have a scan tool that can read ABS (they scan codes for free). The other option is to spend $100 to get a decent scan tool that can scan those modules in your car.
 

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If it's not covered under warranty they charge. All of them do that. A charge of $100 is reasonable from a dealer.
I've never had a dealer mention diagnosis fee's when bringing a car in for a warranty concern, unless the dealer has some reason to believe that some outside damage caused the issue.
Local dealer says, that they will check for issues, but can't say if
the issue is under warranty unless they open stuff up. If no warranty,
then they will charge ~100 USD just for diagnostics.
Have you been to the dealer yet or did you call them? Is the car still under the original factory warranty? If the car is under warranty, then there should be no reason not to go to a dealer.
 
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