I have 2006 Pontiac Torrent AWD with front disc and rear drum brakes. I need help with my ABS & traction control lights come on together (sometime) when I hit brakes slowly to slow down my car around 20-30km/h with a grumbling/scraping feeling sent to my feet from brake pedal (feel like rumble strip on highway). ABS & T/C lights go away if I shut off engine and restart car. It also happens if I accelerate at that speed. This issue does not happen when I hit brake hard. Has anyone experienced this issue?