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all the wheels should spin. that also delends on how freely your brake calipers move as well as how true your rotors are. It's normal for the ABS light to come on in your circumstance because one of your wheels is not spinning so the system is not getting a reading from that wheel(s).
When mine was off the ground the fronts would turn as well as the back, however, the back would engage/disengage rather abruptly instead of smoothly and consistantly as I thought they were going to.
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