Yes you can turn it off.
I've heard of people who always turn it off when they are driving.

if thats really good for ALL the time.
In My GT I have to turn it off when its cold in the morning or when its wet/raining. If I dont it'll feel like its slipping the trans and the ABS Trac light will come on. Soon as I restart the car they go out tho. I know the right one is bad.
Might get it scanned some afternoon, with a ABS capable scanner, and see if thiers any trouble codes stored.
I believe thiers a few who would disagree with that statement "a little bit of cold never hurt anybody"