ABS False Activation - 2000 Burb

I have a 2000 Suburban 1500 4WD. I had this recall done last summer even though I didn't at that time have any false activation of my anti-lock brakes. Now I am having this problem. As I am coming to a stop my anti-lock brakes activate.

Would anyone know if the dealer would do the recall service again at no charge or will I have to pay for it this time?

Is there a permanent fix to this problem?

Is it hard to do yourself?

I would appreciate any feedback you can give me.

Thanks