When abs works you feel the brake pedal vibrate and there is a distinct buzz of the abs pump, the brakes will never just randomly grab like when driving with adaptive cruise control etc.
My front abs sensors started to play up when going over bumps and the above is exactly what I would get. The fault was later narrowed down to the piece of ABS sensor which goes from the strut to the body, it simply got worn out after 20+ years.
If it is the sensors for you, i made a guide showing how to make them for around £30 instead of paying £399 for new ones.
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