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Keep in mind that the front brakes do majority of the stopping power, so they are typically replaced more often than the rear. so while the stopping power feels addequite, you could have completely worn pads in the rear.
Either that or your e-brake could be hanging up.
I dont think that the worn pads would contribute to an ABS light. But it wouldnt hurt to replace your rear pads if they are screeching, if you want to be sure.
You could have a bad wheel sensor, or a bad pump modulator. I belive there is an ABS diagnostics connector on the engine or under the dash, but you would need to take a it to a shop to have that scanned.
Thats about all the help I'm worth, sorry i cant assist further!
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