You may have two separate issues with the noise vs. the ABS. I had the pulsing ABS @ < 10mph, and it was indeed a faulty ABS sensor. I was able to pull the code and figure out it was the right front wheel. I tried cleaning it up and that didn't help, so I replaced that sensor and the problem went away.
1976 FJ40 - green and mostly stock
1996 FZJ80 - not so stock