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One of the wheel speed sensors are bad. It is hard to tell which one it is without a scan tool. You might be money ahead to have a shop with a scanner tell you which sensor is bad if you don't own a scanner. It needs to be driving with a scan tool on it while watching the speeds of the wheels. The one that is bad will read different than the rest at slow speeds.
If it has the 4 wheel anti lock brake system, yes. All Durangos came with rear wheel anti lock brakes, standard. I would look to see if there is a black cable going to the front wheel hub area. Or any markings on the vehicle stating 4 wheel anti lock brakes or rear wheel anti lock brakes, it may say on the brake pedal. You do have upper and lower ball joints.
Did you also replace the brake pads? If not, the wear from the warped rotors most likely caused uneven wear on the pads (not visible by looking at them, but apparent when you apply the brakes). This is probably causing it feel like the rotors are still warped. I don't believe your anti-lock brakes have anything to do with this.
If the car shudders all the time stopping it could be a rotor out of round sometime this happens with new rotors, they should replace them under warranty. But if it is more like abs shudder then they could have damaged a sensor at one of the wheels, the sensors are used for abs and traction control.