Yes, on a 2015 S85 (RWD with AP1) after ~2000 mi
Tesla replaced the ABS sensor (have to go to the SC twice because they didn't catch the problem the first time (expect from the log entries)).
It also disable AP (hopefully, see below).
The exprience was a bit scary because when I start the car, if I get the error message it was fine (no ABS but the car was driving OK) but if it didn't catch the error (happen quite often), then the car suddenly brake or take corrective actiion (ABS) totally randomly. The car was finally towed (twice) because was too dangerous to drive...
Now 25000 mi later, the problem didn't appear again.
I strongly suggest to get the car serviced as soon as possible.