I had a very similar issue not long ago but without any DTC. It turned out that the ABS actuator harness connector was full of dust. Once cleaned, the problem disappeared. But as I said, in my case there was no DTC.
07 Silver Armada LE 4x4
Performance: Injen CAI
Exterior: 2'' Lift, Bilstein 5100 Front/5125 Rear, Firestone Coil Rite Air Bags, 5000K HIDs, Roof Top Basket, Custom Oil Pan Skid Plate (4mm Steel), Cooper Discoverer STT 35x12.50R18, Pinchweld Mod, PML Transmission Pan
Interior: Garmin Nuvi 50, Pioneer AVH-P4200DVD, PAC SWI-PS, WD TV HD Media Player, 8'' Pull-Down LCD, Rear View & Cabin Cameras, Digital Gauges for Water, Oil and ATF Temperatures on Lo-Tek Gauge Pod