When the ABS activates, there is an electric pump in the module that takes over for you and pumps the brakes just the right amount to keep the wheels from locking up and gives the best braking for the shortest stopping distance. That feeds back into the pedal and makes the surging pedal and noise, just keep pressing the pedal, it means the system is working like it should.
Keep in mind, in snow, gravel and mud, you actually stop shorter if you lock the wheels at low speed, the ABS system is designed to recognize that and adjust accordingly. So if your wheels actually lock up when you get under 5 mph, that is likely the ABS working the way it should.
Jeep also uses the ABS to create a virtual Limited Slip Differential, when your driving, accelerating, etc, if a wheel slips on ice/mud/snow, etc with the open differentials, that should cause all the power to go to the slipping wheel and lose power to the wheels with traction and get you stuck. The ABS will activate to slow down the slipping wheel, and that redirects power back to the wheels with traction, and thus you don't get stuck. So, if you're driving in ice/mud/snow and hear noises from the clicking, pumping, etc, its just the ABS doing its job to keep traction and power to all the wheels. If your foot was on the brake during these operations (it would be on the accelerator) you'd feel the pedal surging.
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