If its a subaru with stock axles id fix them for sure or you will get a vibration when stopped at lights. also Ive had bad luck with the cheap aftermarket axles, wearing out in 60000km usually. Sometimes better to fix. 75000miles isnt crazy high.
Used to use a shop scanner with an abs bleed feature for that one. Dont know of any other way. It used about a liter of fluid. Usually thats after leaving the system draining for a while and pumping the brake with an empty res.