One of the sensors has gone bad and needs to be replaced, the other thing to that would also do that is the ABS sensor is dirty or needs to be re gaped to the speed ring on the hub. There was a issue bulletin with your Tahoe on the ABS activating under 8 km/h. Good luck and hope this helps, if not clean out the sensor with brake parts cleaner and check the wire harness and ABS sensor bracket. Re gap the sensor to the speed ring hub. Here is the bulletin. Anti lock Brake (ABS) Activation at Low Speeds (Clean Wheel Speed Sensor Mounting Surface) #03-05-25-007C - (05/16/2006) 2001-2006 Chevrolet Suburban, Tahoe
SOURCE: Anti-lock brakes activate on dry pavement
First, is the ABS light on? Does it come on when it's doing it? Make sure the brake fluid is full, and the brakes are still servicable, ie, pads still have meat on them. If so, the abs control module or a speed sensor might be on the way out. This is a safety issue, and I would recommend getting the truck to a good mechanic to have it checked out.
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