2004 V70R strange brake issue

[bkvolvo]

Hey guys,

I have an '04 V70R with about 149k miles on it. My issue is that sometimes when applying the brakes at speed (55 mph+), it feels like the ABS engages. There is a pulse-like vibration/shaking felt in the car and via steering wheel, which to me seems like the ABS is engaged. This is under light or medium braking, and only at speed. In city driving, I never notice this issue.

Possibly related- sometimes the "Service Anti-skid" light has come on mysteriously and then gone off just as mysteriously, though never when I experience this problem.

Any ideas what this could be?

Thx,
Gavin

[vtl]

Bent or/and rusted rotors.

[marshallh]

Sounds like pad deposits on the rotors. Turn the rotors or replace them if they're too old.
It could also be extremely worn frontend frame bushings, or shot inner/outer tierod ends. However those usually manifest regardless of braking