Has anyone heard of this? No ABS or Brake lights. No faults for ESP or ABS in VAG-COM. Wheel speed sensors cleaned. Right before the car comes to a stop, the ABS activates. Has anyone heard of this issue, any ideas? This is for a B5 S4. Any help would be appreciated.

they can get dirty when you put them back in. Try spraying air all over the area to remove any other contamination. Also, are they close enough to sense?
A bad sensor could also cause this.

IF you have access to scan tool watch your speed sensors. one might be dropping off.