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Did you just put new tires on the car that are different sizes? That can send abs into a confused state. I would take it back to where you had the work done and have them look at it.
 

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Sounds like warped rotors. If you take your hands off of the wheel you apply the brakes and you feel the steering wheel shimmy it's most likely the rotors. The only thing that makes me curious is that it should happen at all speeds whenever you apply the brakes.
 
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