Yes! A "Dealer Tool" is supposedly necessary.
I have 2 Rocket Roadsters and both rear ABS systems SUCK!
I was so excited when I bought my first rocket to have my first motor with ABS.
When trail braking while hooning twisties for several minutes, both rear brake pedals locks up and refuses to move, eliminating any brake application!
Besides being terrifying, eye popping, major sphincter puckering, and inducing subsequent visions of heaven, this is NOT acceptable!
In efforts to keep brake fluid cooler, I moved the rear reservoir outboard 1 more inch from exhaust, I replaced brake fluid (bled many times), went to ceramic pads (which I loved), on both Roadsters all to no avail.
The only cure was to pull the rear ABS fuses. No issues ever since.
Both front ABS' work great. Since the front brakes provide 70% of total braking force, I'm OK with this fix.