I need more info plz answer these and maybe i can help. 1 is this while driveing or brakeing? 2 when u say the ABS kicks in do u mean the light comes on or the brake system is proforming a anti skid.
Sounds like maybe a tire out of round, but if this is a 4x4 it maybe a bad CV axle. I recommend having the tires and the ball joints checked that is also a possiblity as well. This is a hard one without driving and feeling my self these are some possible causes i hope ive help you....Plz accept...Thank You