The key is patience and a high level of cleanliness. Some 90% of bosch sourced pumps from this era are pretty much the same. The major differences are between ABS only and ESP units. ESP units have a pressure sensor threaded to the valve block exterior, and have slightly different valving. The pump and motor should also be larger.
I have seen one sprinter where the ABS pump was running in short pulses a few times a second whenever the vehicle was moving above a certain speed. No codes, no other odd behavior. I am certain this type of behavior will wear brushes out quickly.
As a side note this ABS pulsing also causes the lights to dim in time with the pulses.
