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You are going to need a front wheel bearing / hub assembly or two.
Your dealership will know how to diagnose which wheel bearing it may be.
The wheel speed sensors are built into the hub. As the hub/bearing wears out, it allows the reluctor (pick-up) wheel to move away from the wheel speed sensor. This causes too much of an air gap, and the wheel speed sensor sends an erratic signal to the EBCM (electronic brake control module).
This in turn looks like a wheel slip and the ABS is energized and engages. This usually happens at low speeds, because the signal is more erratic at lower speeds.
The only true repair is to replace the bad wheel bearing/hub assembly. GM does explain a removal and readjustment procedure, but I haven't seen that fix last more than a couple months before the same concern re-arises.
Hope this helps.
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