Is it possible that you have a sticky caliper? The next time this happens, find a safe place to pull over and coast to a stop (don't brake hard). Then check the temps of both front wheels - don't touch the rotor, just the lug nuts. If one wheel is very hot, that is your problem.

I doubt that the ABS sensor is dirty, that would signal an error code to the ABS computer. If the axle slots are dirty only on one side, that could fool the ABS into thinking the wheel is slipping. To check the axle, the wheel must come off because you need to look at the back side of the rotor where the axle is attached. Much easer on a lift, I wind up removing the rotor because I don't like crawling under the car.

Klaus
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Volvoless. Sold the R. There is now a void...