It is possible to bleed all ABS brakes at home, the simplest although more expensive method is to use a vacuum pump.
Servo assisted brakes are slightly more complex than standard ABS, but can still be sorted at home. Have personally not done the job on servo assisted but a forum search will bring loads of answers to your Question from far more eminent men than me.
The standard ABS can be bled all the way from reservoir to caliper in one go with a vacuum pump it takes about 1/2 hour for all brakes and clutch and uses very little fluid, and in my book is well worth doing every year.