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Without a color difference, you really can't simply by bleeding without letting it drain and get air in the system using a vacuum/pressure system.
if you want to get ocd about it, you'll need a tool that can activate the ABS modules to get the fluid out of them as well as simple bleeding wont purge them.
any other solution is probably just guestimating how much each line to wheel can carry and filling and bleeding that amount. But you'd still need to play with the abs module to clean it out too.
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