I know this has probably been addressed before but I cannot find the thread so here goes...
I have a 2000 XJR and when it is first started up all warning lights are out except for ABS which cuts out after the car reaches 15 or 20 mph.  When I come to a stop, in the last few mph before complete stop, the brake pedal 'pops' like the ABS is activating.  Almost like you are walking on some of the plastic bubble wrap.  When accelerating it will sometimes feel as if the TRAC is coming on and not letting the car accelerate like it is supposed to.  This will continue until the ABS/TRAC not available lights come on and then everything seems normal (except obviously I don't have ABS and TRAC functions.  I have cleaned the wheel sensors a few times but it doesn't recitify the situation.  I saw one post where the ABS module was opened and repaired but with no details on the procedure.  Can someone help with this?

Best regards,
JCP