1999 V70 XC ABS engages low speed

[nhebayer]

Please forgive me if this has been covered. I did search and did not find anything.

Car is new to me... has 213,000 miles Auto Trans AWD. I bought with a broken axle and a missing rear drive shaft. I installed RF axle test drove a short distance and it was great. I did not notice and noise from ABS. Does not mean it was not there... I just didnt notice.
Today I installed a good rear drive shaft and test drove. All is well except for an odd noise. I will do my best to describe.
When taking off from a dead stop at around 5 mpg I get a faint vibration type noise it goes away at 15-20mph... or I can no longer hear it. It also stopped the noise as soon as I touched the brake. I also could feel some vibration in the brake pedal. I suspected the ABS was the issue.. So I pulled the 50 amp fuse and drove again and it went away.
I know nothing at all about Volvos. I'm a 15 year ASE Cert Master tech retired. Retired in 96.

Am I correct in assuming this has something to do with the ABS or Traction control? I have an OBD II scanner... but its pretty basic. not sure how much it will give me on a Volvo. I had no Check engine or ABS lights on until I pulled the fuse.
Are there any common tests to Diagnosis this? Is this a common problem and what are common fixes?
Thank you for the help and your patience.
Reaney in NH

[E Showell]

The ABS system does self test at low speed. What you are experiencing may be entirely within normal limits. Matty Moo, a forum member and ABS module rebuilder, could probably give you a better idea of whether this is normal. If you suspect a problem, I'd look to see whether the wheel speed sensors are all clean.