My 01 AP1 has a weird braking issue where at about 5-7 mph when braking or rolling to a stop I will feel a clatter/grind in the brake pedal. It is not a warped rotor feeling as the steering wheel does not shake under braking. The ABS light is not on when this issue happens, however I removed the 30 amp abs fuse,the clatter/grind goes away with the abs light on. Its almost as if the abs is under false activation and not throwing code. I have tried disconnecting the battery to reset the abs but to no avail. Ive had to replace an abs sensor in the passenger side rear wheel recently and the abs light was off after that.

 

I found the issue! Turns out the gap between the axle abs teeth and abs sensor was larger than 1mm confusing the abs system. After I reset the gap under 1mm it solved the issue!