I have had this issue a while and I've searched all through the forums for answers, but I have not found anything that helped.

While I am driving my truck around town (15-30 mph), I would apply my brakes and the ABS would kick in when I know I did not lose traction. The brake pedal will shudder furiously and I would be unable to apply the brakes fully until I let off and reapply them. The issue is completely random and some days it never happens. My truck is a 2006 SCREW Lariat with the 5.4 and 35" tires.

HELP!

 

Had this issue on my wife's SUV, ended up being a bad wheel speed sensor.

 

If you have recently replaced your hubs there may be a manufacturing defect or misalignment with the abs pickup. If not, the abs sensor is bad. If you have a multimeter, you can do a resistance check (search the sight for the procedure). This happened to me when I replaced my 2wd front hub&disk assembly with a POS aftermarket setup.

 

Any DTS codes ??

 

I checked for codes, nothing came up. I haven't replaced the hubs since I've had the truck, so I'll look into the ABS sensors. Hopefully that is the only issue...

 

It would be nice to know which one though...

 

I had same issue with my '06 but I knew my wheel bearing on drivers side was bad. Replaced the hub assembly which came with a new sensor installed and problem was solved. Check your bearings for wear.