[LMP]

AS I understand, your car stops without problems, but the "noises" seem to annoy you.
My first suspicion is you have just got the car and not used to the behaviour of this ABS system. In the firstplace, it does a series of clicks and groans when turning the key on . That is normal. Then if it acts on, like in panic stop and some wheels want to lock, the action of the ABS is the kind of noise you describe,(releases and puts back brake pressure on specific wheels in rapid succession) and you have a feeling like the pedal goes to the floor but it does not really.

So in as much as I can see, all is normal....If I missed the point, just come back. However, sometimes, the ABS becomes overreacting like it does it anytime you stop even in a mild stop, and then it does not help at all. In my case, it has died a long time ago, and I"m happy with it like that. RIP.