I take everyone I can to my ABS demo pad. (we own a two acre grass field South of our paved parking lot). I drive the car into the grass and at about 5mph I try to lock up the brakes. You will feel the "feel". I suggest everyone who hasn't experienced the feel to find a safe place and do so.
You will never feel this activity in any form of normal braking EXCEPT the few weird, slow turning, over a bump, events. It is possible to fool to system if brakes are applied in some situations where one wheel is accelerating abnormally as it takes a different path. Such as slowly one wheel over a speed pump.
As the wheel sensor signal deteriorates the "feel" can happen quite frequently in very low speed turns and is a common complaint. Knowing what it feels like is good experience for determining what is happening in random events.
Bosch Master, ASE Master, L1
33 years MB technician