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Mixing Brake Fluid?

Car  S4 Avant
I've been having a problem with my ABS and ESP lights coming on, and tonight worked out that the ABS really does cut out when the light is on. Much to the disgust of my exhaust, which started to knock again :mad:

I've had a proper check of the brake fluid tonight, and found that the level looks something like this:


--------- Maxi




--------- Mini
--------- My level


Now, I know my Dad has some Dot 4 knocking around, but I really don't like the thought of mixing brake fluids, unless it is safe to do so?

Also going to have a bash at adjusting the brake pedal sensor, to try and stop the lights coming back on.
 
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