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howdie sounds like their could be abs module week or you could have a sensor wire broke on one of the wheels, or the master cly could have a leak does the pedal come bk up right away?ck this out if not get a quote from your local garage its not good to mess around with brakes
the abs valve assembly is under the drivers seat mounted on the frame if a gear went bad it will keep trying to move the valves it has a electrical plug on it and you will see all the brake lines go in and out of it
This sounds like the abs system is coming on, this may be due to a bad wheel sensor, the best way to see if the noise is the abs is to remove abs fuse and drive, the abs light will come on but drive to see if noise is gone. by removing the fuse the system will shut down. the way it makes noise when close to a stop means the abs could be the noise, a bad sensor at the wheel would cause this. it looses the signal for a sec or two and the compuetr thinks the wheel is skidding and the rest are moving, so the noise you hear is the abs unit release the wheel. if the abs is the problem then the next step is to have a garage scan the abs module for codes. the codes will tell you where the problem is and which wheel. good day.
The way to approach this sreies of issues is to first remove the remote start/alarm from the equation and restore the vans electrical system back to original. From there, if it persists, we can do more trouble shooting. Let me know and I can walk you through the process. This is definately a problem that does require a diagnostician. Thank you for the level of detail you provided!
The light indicates a malfunction in the ABS (ALB) system. First, I would check your brake fluid level in the ABS unit (see pic, similar, I think). It should be between the max and min levels indicated on the front face of the reservoir. You should also check your regulator brake fluid reservoir to make sure the level there is correct. Dot3 or Dot4. If that is not the problem, then wheel sensors would be suspect, but that would be a Honda service indication.
Hope this helps you.
check under vehicle on frame rail drivers side, should see abs assembly, disconnect red wire buzzing will stop, will have to replace assembly, will not have abs braking, will have base brakes, if red brake light comes on do not drive vehicle, have towed to repair shop