Diagnosing code OBD II code P1C4E

Question

ABS and car with squigglies lights came on. Later, the 2 lights went off and the MIL came on. I pulled the OBD II code P1C4E.... Manufacturer specific code - see dealer..... After 2 days, the MIL went off and the ABS and car with squiggles came back on. Called the dealer and they want $110 to pull the ABS module codes. Is there a way that I can pull the ABS codes to diagnose my issue? Has anyone else had this problem? What was the fix for your situation? Thanks for your help.