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It's not uncommon for ABS to activate while braking over wash-board type bumps, especially with large tires and a soft suspension. From what you're describing, it sounds like a faulty wheel speed sensor or dirty/rusted exciter ring for the ABS. It's surprising you don't have an ABS warning light on. ABS codes can be read with an advanced code reader to pinpoint the problem. You can pull the ABS fuse to disable the system. This will light up an ABS light, but do no harm to the vehicle. You'll just be non-ABS while the fuse is out.
Joel
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