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This is a reply to Jovian9. Sounds like your problem is with your shocks. Sounds weird but the way ABS works is that it looks for wheel slip. When your shocks are bad, any little bump causes the tires to lose contact with the ground and the ABS sees the speed difference between different tires and reads 'slip'. The grinding noise and the pulsation you feel in the pedal is the ABS pump cycling to pump your brakes. The bad part about 'pumping' is that it almost always increases stopping distance on dry pavement which is why you hit something and messed up your QP.
OEM shocks are toast after 10-15K but the change is so gradual that most people don't really notice the degradation in ride quality. Get yourself some Monroe SensaTracs (lifetime warranty) and get your fender fixed.
JWS
99 Rodeo LSE 4WD
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