What is occurring is that a front wheel speed sensor is failing. I'll give you the just of how the system works and why you are having the problems that you are.
The anti-lock brake system and the traction control system both function off of the 4 wheel speed sensors. 1 is located at each of the 4 wheels.
As your car is moving, the anti-lock computer is monitoring the speed of each of the 4 wheels. When you are first taking off, if one of the front wheel speed sensors is reading 0mph and the other is reading the actual speed,(say 5mph) the computer thinks that you are stuck and therefore activates the traction control system.
The same holds true for the anti-lock brakes.
As you are coming to your final stop, if one of the speed sensors drops to zero, the computer believes that you are skidding and activates the anti-lock brakes.
You must be in the beginning phases of a sensor failure. In time, your computer will realize that there is a sensor malfunction and turn the ABS light on.
The reason that there is no code is due to the fact that the computer has not yet recorded a failure.
For the diagnosis of the problem. You will need a shop that has a lab scope capable of monitoring the front wheel speed sensors together to see which on is causing the failure.
Its not as difficult as it may sound, I work with these types of problems quite often...
Please let me know if you have any further questions...