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Brake Shudder and brake pedal pulsing ABS light on 850 1997

HI,
97 850 SE wagon
I have read many similar problems on this post I just need some more info to make an informed desision.
Some mornings my ABS light comes on after 10 minutes or so and stays on. When I brake a violent shudder happens and gets worse at about 30 KPH or 20 MPH. I have check the rotors they seem straight. The pads are 6 months old. The steering wheel shakes as well. Sometimes when the abs light is off the shudder is not as bad. I have new bearings and CV's this year. Its driving me insane. I have had the car on the blocks a few times and I am running out of ideas. Is this an ABS issue or possibly a combination of things.

Help****






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