If you think that it is an ABS function then pull the controller. Then there will be no ABS and the light will be on. Do this for test purposes and see if the symptoms are the same.

I have fixed hundreds of ABS problems, none of them sounded remotely like your problem. It would take a coordinated effort to do what your symptoms suggest.

__________________
Steve Brotherton
Continental Imports
Gainesville FL
Bosch Master, ASE Master, L1
33 years MB technician