Hi XXXXXXXXX and welcome to JustAnswer,
No, you are correct on what you said. When the ABS light turns on, the ABS will be deactivated. Meaning, no more shuddder.
Do you know if the ABS system you have is a Bosch or Nippondenso? It should say so on the ABS unit under the hood. It's the component with mulitple steel brake lines coming off of it.
WFMtoyota
Toyota Master Technician
Toyota Master ASE Certified, Prius/ Highlander/ Camry Hybrid Certified, trained in all areas
The connectors to the ABS actuator can be unplugged to temporarily deactivated the system.