Abs comes when brakin on dry roads .

you have a weak abs sensor use an ohm meter and compare it with the others and check the frtwires for cracks

Are there any malfunction lights coming on? If so then it could be a wheel speed sensor. sometimes people confuse rotor vibration with abs pulsation.

it may be the sensors need cleaning up and reajusting also if there is rust on the brake abs rotor that can cause the abs to play up give it all a good clean up

sounds like the abs ring on the axle is cracked very common with these and simple fix

that bolt is a limit for the pedal travel,your problem is one of the wheel speed sonsor going bad,to know wich one is bad you have to get the system scanned for the ABS codes,there you will know the one to get and replace,

Probably bad wheel bearing

The disks may be warped, which will cause a vibration under braking.
Also if it's an ABS system, the vibration is normal but only under heavy braking, and should not continue to vibrate when working properly.

bleed brakes again you got air in them .check make sure master cylinder is low on fluid.

I would take it in to a shop and have a free brake inspection done. They will give you a list of things wrong , and you can go from there.

You may have a wheel sensor or sensor ring damaged or defective at the one of the wheels, that will cause the ABS to think a wheel is locked up and give the problem you have. To disable the ABS remove the fuse or relay, I would not recommend this route, ABS can save your life and those you love in a out of control situation, SUV's are very prone to situations that ABS reallly saves you.........