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[Stillrunning]

I found this on a Volvo with somewhat of the same problem you have.

"ABS Pulses at Low Speeds
[Problem]he ABS acts up when I'm driving at low speeds and applying hardly any pressure to the brake pedal of my 1990 740 GLE. The ABS lifts the brake pedal in the same way as if it was locking up.

[Answer]You should remove and clean the front wheel speed sensors. To do this turn wheel full lock to one side and then remove the sensor from wheel that is turned out by undoing a 5 mm Allen screw you will see adjacent to arm where tie rod for steering attaches. Then turn wheel to full lock the other way and do the same on other side. Also unplug and then reconnect the sensor connectors that are in the engine compartment near top of struts. This should effectively clean the connections. This can also cause low speed inappropriate ABS activation."

So you may just have dirty sensors. You may also have a damaged tooth on the spline.

If you are capable I would pull the front sensors and check them. When you remove them you may be able to see down inside to the teeth on the axle. If you turn the axle you may be able inspect each tooth for dirt/damage.