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If it's a vibration, it might be a brake pad staying in contact with the disk. Normally the pads push away when the car starts moving. (A normal condition called "runout") Try stopping your Jeep tonite by using only rear brakes. (hand brake) Don't step on the brake pedal at all. Then see if it does it in the morning. Don't step on the brake pedal in the morning till the test 20 sec's is over.
If the problem is a thump thump sound it's probably a tire flat spot from setting. Have the tires just been replaced? Could be a softer tirs material.
There's speed sensors at each wheel. You may have got some contamination in front of one of them... sounds like the abs is trying to compensate for un equal speed at each wheel... and something may be blocking a proper read at one of the wheels...
Sounds like sticky caliper for one reason or another which has probably warped rotor(s). When that vibration occurs & you pull over to stop it, carefully touch rim to see if hot, or hotter than other side, which is a good indicator to tell you which one is sticking. Don't just change one though, do both. that is provided it's just not a case of lubricating sliders etc, to get calipers moving freely.
Since the rotor isn't warped. Do you have grooves in the rotor? Are the pads evenly worn? You a bad front 4X4 C/V shaft will also cause this reaction. I would just unplug the ABS fuse and it will bypass the system to regular old-fashioned brakes.
The vibration is caused by the rotors being warped. Remove the front tires and check the front brake pads. Replace if needed. This is a pretty straight forward job. The rotors are "fall off" rotors and you won't need anything special tool wise.