I had the same problem. It was the upper control arm bushings. They got worn and slapped back and forth when I hit the brakes.
Assuming we are talking about "S" cam air brakes on a truck, check the angle at the end of the slack adjuster to the actuator rod coming out of the air brake can when brakes are applied, it should be 90 degrees, if the slack adjuster is manual adjust it with the brakes not applied and then test again. If they are automatic slack adjusters and you do not have 90 degrees with brakes applied it is worn out or not installed correctly.
the abs light means you have a problem in your brake system it also means get it to a shop and have it fixed before the brakes fail and you are in a wreck as for feeling like it wants to go when the brakes are applied that in itself tells you there is a problem if the brakes are inadequate while stopped, how is it going to stop you in an emergency
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