1996 bmw r1100rt, my ABS system seems to mis-sync more often as of late. I can restart over and over and it will eventually sync, any ideas on how to correct so it syncs the first time.

This is common on all bikes of this era. A new battery will resolve this problem for a while until it starts to drain down after 6 months to a year or so. The problem is the ABS system needs a good solid 12.5V or better to work at start up. This is the same time the starter also needs good power which puts a heavy load on the battery. They both end up competing with one another and the ABS computer creates a fault but the bike still starts. By starting it again and again helps because the battery is quickly charging each time you start. So, a new battery can help or put your bike on a trickle charge from time to time. The problem will never be fully resolved. You need to eliminate the fault before riding or your ABS system is non functional.