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This is whats worrying me (along with the failure that scared the crap out of me) and why I am seeking advice from you guys. My mechanical brain screams faulty master cylinder. But......the dealership has already diagnosed the problem as faulty ABS!
S.W.A.G. (scientific wild *** guess) here. ABS works by *releasing* brake pressure if the wheel locks. I don't know the specifics of how they're released, but that is what ABS does. With that in mind, you may have a failure that simulates (or maintains) that released condition. It'd be real interesting if you could get your dealer to show you the failed part & how it failed.
This past winter I added polished rotors and chrome calipers on my 01 RK and the work was done my an MMI grad who worked on my bike before and all was okay first time. After the brake job (had pads replaced as well) I rode the interstate home and parked the bike in garage. Next time out I noticed my front brake lever pulling farther than normal and shortly thereafter I had no front brake at all. Also had fluid on my right hard bag. I got it home, opened my front master cylinder and every screw was loose. I added fluid and went for another ride only to find I was still leaking fluid only now it was coming from the fittings. Tightened them up, added more fluid and no more problems. To make a too long a story short I would check my fluid level, especially since you state that you can pump pressure back.