ABS brakes grunt, groan noise with brake pedal travel.

Joe it is common for the brakes to moan when they wear down and sometimes they will squeak, try replacing the front pads and lubing the shafts on the calipers install anti squeal on the back of the pads, the ABS device would not cause noise as they are just a ring with a magnet and the reluctor ring spins and the magnet detects the spinning of the reluctor ring, they don't even touch and are stationary in place where they are mounted. There is a possibility that the brake fluid is dirty and could cause the abs motor to groan but you would just have to flush the system, When you don't put your foot in it on the brakes it will make some noise even new, I have a 2008 ford ranger that makes the same noise and the brakes are fine. You will have to adjust your braking habits to stop the noise. You can change the pads and that will help but not for long, be sure when you are operating your brakes press firmly on the pedal until you stop. If the brakes make noise after you let up on the pedal then the caliper parts need to be cleaned and lubed, however it is not a safety issue.

Aftermarket wheel bearing and hub assemblies can cause this, I have a 2005 Trailblazer and I replaced my front wheel bearing and hub assembly with a Autozone Duralast bearing, it had shims on the sensor that will cause this. It's called "ABS activation during a non-ABS stop". You shouldn't have to change your braking habits to accommodate your brakes. As a matter of fact, there is no ulterior method to avoid this. If you recently replaced your front wheel bearing and hub assembly try OEM bearings or Timkin, it fixed my issue.