ABS Issues NO BRAKES! sometimes

[Localraceway]

1994 Jeep grand Cherokee 4wd (not AWD)
4.0L Automatic with about 150k miles


Here's my problem. my brakes are sometimes perfectly fine for weeks at a time, but randomly i lose my brakes for a couple seconds when i try to stop. my ABS seem to go crazy and my pedal gets hard to push and vibrates, while its doing this the car will not stop. after a couple seconds of it doing this my brakes come back and work perfectly,it does this every couple days but never more than once per day, or sometimes i wont have a problem for a few days. i haven't had a brake problem for a couple weeks until today when i was going to a stop sign i hit the brakes and they were hard as a rock and i had no brakes at all for about 4 seconds then all of a sudden they just came on. if there was a car coming i would have got T-boned...

My ABS light comes on but its only on maybe 50% of the time I'm driving and the ABS light will be on when my brakes are working perfectly fine. then when my brakes act up and get stiff and no brakes i see that the ABS light is NOT on ? any idea what would be causing this ?
i got the ABS code of Wheel sensors bank 1 and bank 2 but others have said it could be ABS sending Unit ? I'm not working now and ABS can be pretty expensive, especially if I'm not sure what the real problem is.

[AlohaBra]

Sounds like something is wrong with the ABS.

I would check and clean the sensors first.

I must say, I personally don't work on Jeep Abs at all. On the ones that I have worked on, the Bosch, yes..... the parts are expensive.

Many Jeep XJ owners have opted to replace the ABS with regular brakes. Seach this forum for answers that will inform you of their experience and results.