blockhead:
Sorry to hear about the semi scare -- good reaction time on your part!
Air in the ABS system: According to the info on the website mentioned, a special diagnostic tester/scanner (Worldwide Diagnostic System (WDS) 418-F224, New Generation STAR (NGS) Tester 418-F052, or equivalent scan tool) is required to properly bleed the ABS unit. On the bright side, if you did not open any of the hydraulic connections to the hydraulic control unit (HCU) and you were pretty careful about closing the bleed screws at the calipers, I will bet that you just need to bleed the master cylinder. I had a spongy pedal after flushing my brake system and it firmed up nicely once I bled the m/c.
So, try bleeding the m/c first. If that does not work, then you will have to bring the car in so the ABS unit can be bled properly.
Good luck!
Chris