does it do it while turning at low speeds? you may want to rule out the wheel speed sensors activating when not needed (wheel speed sensors on these 8th gens tend to be an issue which would cause your abs to kick in without need). you can check the wiring running back from the wheel up the control arms to ensure there are no brakes or exposed wires. i'd look into that first honestly.
are you getting any check engine codes?
are you getting any check engine codes?