I too have been having issues. First it was just the ABS system. The brakes would fight back at me when I'm trying to brake. I brought it to my mechanic in April and he replaced the light sensor and then some other part. It was good for a while and then it started back up...a little at first. I brought it back to the shop and told them it was acting up again and although I had them install new brakes (they were due anyway), they couldn't see anything on the computer that the system was acting up again. This was now July and unfortunately because of my husband's health I haven't been able to get it back to the shop. I barely can get 100' after starting up the car when there is an awful noise, like a gattling gun sound, braking is often difficult and there have been 2 instances already were the car did NOT stop. Once the lights go on (and both ABS and TC lights go on) I don't have that retched noise or hard braking issues.
I'm still trying to read through the forum for a solution, in the meantime, I've posted. Now to find the forum for my automatic door lock