If it happens as you approach a stop, more likely is the possibility that one of the sensors is out of gap spec, or out of line with the exciter. If one is farther away from the ring than all the others, you get ABS activation as you approach a stop, here's why:
As the coil (exciter) spins past the magnet (sensor) it creates a voltage. The ABS system monitors these voltages. As you slow, the voltages drop. The ABS system watches for differences in these voltages to assume a wheel has stopped turning. when it sees zero voltage it assumes the wheel isn't turning.
As you approach a stop, the wheel with the larger sensor gap than the others, gets a zero voltage from the sensor before all the other wheels, because the sensor is too far from the exciter to get a voltage. The computer thinks the wheel has stopped, and releases the brakes on that wheel, that's the activation you are feeling in the pedal.
Same thing happened to me, found left rear sensor wasn't screwed in and was working itself out, screwed it back on, problem go bye bye.
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