[ainarssems]

The intermittent ABS triggering at slow speeds is either dirty sensor, ring or poor connection in connector or broken wire. the pedal going down is more likely to be hydraulic issues or air in the system. Check for fluid level, leaks and air in the system. For ABS issue you need to do VCDS read to see if any fault codes are logged to see which wheel/sensor is giving the issue and also check measuring blocks showing wheel speed to see which wheel reading differs from others. You could also temporarily pull the ABS fuse to deactivate ABS/ ESP and see how it feels.