Brake fade while ABS engaged

So I have a problem with my 07 (V6 with 115k miles) and the ABS brakes. When I brake hard and ABS kicks in it feels like the brakes stop working during the panic stop. I get the momentary stopage and the ABS kicks back in. I have almost been in one accident because of this issue. I try to be hyper-alert, but people are very unpredictable.

What could be the possible issue? Computer reset? Worn hardware? I have replaced the shocks, struts, and tires. So the issue isn't with the tires losing contact with the road. I suspect this is going to be expensive to fix as it feels like an electronics problem.

Thanks for any advice.

 

not sure if it's exactly what you are experiencing but, on the 2nd gen Tacoma's guys were installing ABS kill switches. The reason being that on ice when you're trying to stop the stupid ABS just wont let the truck stop, I coasted through a couple of stop signs while standing on the pedal with the ABS pumping away the entire time. I changed tires to some BFG's and the better traction did help this not happen but not all the time. basically the ABS seems too sensitive, read one of the threads on TW: https://www.tacomaworld.com/threads/abs-kill-switch.424125/

there are a few threads over there about it if you want.

 

Thanks for the reply. My problem is more of the brakes almost stop working in mid panic stop. The ABS stops pulsing and there is a noticeable decrease in braking. I almost hit a person because of this. I suspect it's a control module or something else electronic. Just swapping parts will get very pricey. Would there be a trouble code stored in the computer? I don't see the brake light flashing on the dash when I first turn the key.