When I apply the brakes on my 2000 RX300, just before stopping at very low speed the abs comes on and I get that pulsating crunching sound and feel untilthe car comes to rest. It started on the right front when turning right but now does it with the wheels facing in any direction. It does it in reverse also. I took it to my local garage and then to a Toyota specialist. They put the analyzer on it and no codes came up. The brakes were pulsating somewhat anywaysothey resurfaced the very out-of-round discs. The brakes then felt smooth at all speeds but it didn't help the problem. They unplugged the abs and it didn't do it so it looks like an abs malfunction. Any thoughts or hints?

 

Wow, seen this a bunch too. Ok, the most common cause of this, I have seen, is the speed sensor "window" is out of sync. Most likely, you have recently had cv boots replaced, cv axle replaced, steering knuckle replaced, or wheel bearing replaced. When the axle is removed from the knuckle, there is a thin brass colored roundpiece of metal inserted into the knuckle where the axle rides. If you remove the speed sensor from the knuckle, there should be a clear "window" through the knuckle, through this piece of said metal, into a clear view of the "teeth" on the cv axle. This is where the speed sensor gets its signal from. If the "window" is blocked or not lined up perfectly, then the speed sensor looses singal, telling the car that the wheel is locking up and engages abs. One more cause, if you have had your cv axle itself replaced it can also be a poor quality aftermarket axle. The "teeth" on the axle are pretty precise. Some aftermarket companies do not pay near the attention to precision that Toyota or Lexus does. Hope this helps.