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Sounds like you have a speed sensor signal dropping out. This would cause the ABS system to falsely think one of the wheels has locked up and would turn on the abs to unlock the wheel.
You can visually check the wiring harnesses to the speed sensors to see if there are any corroded connections, corroded wires or broken wires. If everything looks good than the next step would be to drive it with a scan tool and watch ABS data. You should be able to spot the speed sensors that drops out on the scan tool when the problem occurs. Than you can focus on that wheel to see what the problem is.
Either the sliders on the calipers are frozen [ the caliers should be free floating] , which would cause uneven pad wear, or the rotor surfaces may be way out of specifcation. You should be able to move the caliper side to side while its still in place, you might have to use a tool to pry it, but it shouldn't require much force. If the rotors look grooved or rusted on any of the surfaces, then this could cause uneven wear. It would also be a good idea to have the rotors measured to make sure thier not worn below minimun thickness.
I think you should check brake calipers and brake pads. The suspension is in constant motion and the shock dampening for the body is suppose to isolate the body.
There are compounds like "Brake Quiet" which is a rubberized paste that is to be applied between the pads and caliper. You may need new brake hardware which will tighten the pads and calipers to the car.
Check your heatshields on the exhaust system. Gravel can get sandwiched between them and rattle like crazy. Check them COLD and hit them with your hand and listen for rattles. Sometimes hubcaps can pickup stones, but if you work on the brakes you will be taking the hubcaps off anyway. Good Luck on this repair.
have both front brakes check from the calipers to the pads. worned out breaks pad can grind with the rotors will also cause it to make noises. worned wheel bearing can also cause it to make noise. if you have uneven wear on the pad, have the calipers piston check.
Check Brake caliper and pads may need shims on pads, if its a rattling noise on bumpy roads calipers will rattle if brake clips or shims are missing. Car moving from left to right by itself could be a few things 1 Bad rack-andpinon mounting bushings 2. Bad inner or outer tie rods. 3. bad ball joints 4. uneven wear on tires. check all of the above and you will find your problem. Rpm guage not working more than likely is the cluster itself is going bad or malfunction. I wouldn't worry too much about since it just RPM.