Personally i don't believe it has any thing to do with the pads,the ABS sensor is located next to the battery & probably need to being replaced.
When i bought my VX the pads & the rotors were completly worn to the extend that there was no breaking & my ABS works perfectly.
If the dealer tells you that's related to the pads he's lying.
Dealers are under law both,federal & state obligated & to sell all they vehicules with all safety features in pefcet working conditions.
They cannot sell you an vehicule with worn or broken seat belts,broken cat coverters or mufflers,they cannot even sell you a car with a blowed head light bulb & that has nothing to do with mileage.