I got my 04 WRX 6 weeks ago. For the 5 weeks I drove it, the ABS would engage regularly under heavy braking on uneven surfaces (as I would expect). Then a week ago I entered a turn at a speed well beyond what I should have, and crashed due to severe understeer. After the crash I realized my ABS never engaged. Do you have to bring your wheels to full lock for the ABS to engage? I thought the system just had to sense that the vehicle speed and wheel speed no longer matched perfectly. During the turn I got on the brakes hard to try to reduce understeer but I did not stand on them, so as to try to avoid full lock and/or oversteer. Was that what caused the ABS to not engage or might they have failed? If they should have engaged under the above conditions that may help me write off the crash as no-fault with the insurance company.