I thought I'd add my 2-cents.... I just solved the exact problem being discussed here. To recap the issue....while applying normal, steady brake pressure on dry pavement, the ABS appears to "kick-in" and scare the daylights out of ya....possibly missing a stop sign or intersection stop light!!! YIKES!!! The interim fix was to pull a fuse or two to disable the ABS.
My problem also tended to turn the wheel a bit which lead me to believe it was just one side....but I'm more of a replace both sides kind-of-guy...because if one side has gone bad, then the other may be shortly behind it.
I searched through the threads and here is what I did: my rotors were less than a year old, so I put the thought of warped rotors on the back burner. I leaned towards bad front sensors. Upon inspection, the left front sensor had snapped off clean, leaving the probe lodged in the mounting hole; so that one was a no-brainer. I decided to go ahead and replace both front hub assemblies; there is a great how-to thread complete with pictures. The hubs I bought came complete with the sensors already installed. Since, everything was torn apart, I cleaned and lubed the moving parts on the brakes as a way to hedge my bets. Once it was all back together, I repowered the fuse box and test-drove it around the neighborhood. So-far-so-good; knock on wood!
We have a 300-mile road trip over Thanksgiving that should provide an ample sampling of driving conditions....if it's not fixed, I'll be back here looking for my next answer!