If you can feel a Vibration coming through your Brake Pedal... it might be an issue with one or both of the Brake Hub A/C Coil Pick Ups moving TOO far away from the Teeth of the Reluctor Wheels inside the Front Hubs due to "Rust Jacking". Ordinarily, the Rotation of the Wheels
at all times provides the means to generate a Mild A/C Current of around 450 mV (Milli Volts) that confirms with the PCM that you have
NOT accidentally LOCKED UP YOUR FRONT WHEELS on either a Slippery or upon Icy Surfaces.
Once the Front Wheels STOP Rotating... they can
NO LONGER BE EFFECTIVE IN STEERING THE VEHICLE... and the Vehicle will continue to move in the last direction of guidance (vector of SUV's momentum) just before the Wheels Locked Up. The ABS Unit and the PCM will do everything possible to interpret a Low Speed Failure of Rotation to activate the ABS Unit and
keep the wheels rolling.
The ABS Unit is designed to provide you with the means to Rapidly Apply and Release the Brakes in contact between the Pads and the Rotors in such a manner as to Prevent Locking Up The Wheels. This Video shows How to Diagnose this Problem on GMT360 Vehicles and How to perform a Repair (
with the Alternative Action being to REPLACE BOTH FRONT WHEEL HUBS) :
There are a
LOT of Good Clues covered in this Video that may alert you to something that requires a Second Look to figure out exactly what has gone sideways with the Braking System: