2002 CADILLAC ESCALADE EXT 1500 Electronic Stability Control Esc Problems

THE ABS ACTIVATES WHILE DRIVING LESS THAN 10MPH AND THE VEHICLE WILL NOT STOP. WHILE DRIVING 3 MPH IN WET OR DRY CONDITIONS, THE ABS ACTIVATED WHEN THE BRAKES WERE DEPRESSED. THIS HAS CAUSED A VERY DANGEROUS SITUATION WITH THE VEHICLE FAILING TO STOP AND ROLLING THROUGH STOP SIGNS AND RED LIGHTS. THE ONLY WAY TO AVOID THIS, IS TO BEGIN STOPPING WELL IN ADVANCE OF DESIRED STOPPING POINT AND HOPING IT STOPS. THE SERVICE STABILITY LIGHT LIGHT COMES ON AFTER DRIVING VEHICLE FOR 10 SECONDS. IT IS PRECEDING BY A GRRRRR NOISE WHICH LASTS AROUND 5 SECONDS AND HAPPENS 3 OR 4 TIMES BEFORE THE LIGHT COMES ON. ALSO GETTING BRAKING CHATTER, BRAKE PEDAL COMING UP AND BEING HARD TO DEPRESS. IS THIS VEHICLE INCLUDED IN THE RECALL FOR THE SERVICE BRAKES, HYDRAULIC: ANTILOCK (NHTSA CAMPAIGN ID NUMBER 05V379000)? ALL BRAKE PADS, BRAKE LINES, AND ABS MODULE AND SENSORS...