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To show you how hard it is to engage the ABS on our bikes, I applied the front brake so hard one time the rear wheel came off the ground before the ABS kicked in. If you do this, be careful. Easy to engage the ABS if the rear brake only is operated. But as said the front brake also operates the rear brake, at least it does on my 2012 R1200R.
My BMW service manager recommends activating the ABS for the reason you described.
I believe he was saying that a flush doesn't get into the ABS section, with the motors (I have the whizzy 2005 ABS). Activating the ABS flushes that area with the new fluid. .