If you brake hard, can you still feel your ABS pulstate thru the brake pedal???
It is very common for the trio to come on, showing a fault when in fact it was just a little glitch and if your ABS is still pulsating, I would ask them to clear the codes and drive it for a few days, probably won't come back on.
As for the belt, if it wasn't replaced as part of the 45K free service, then yes you should replace the belt and the plastic idlers are know to fail.
Mike
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