mine does the same thing but I only have 5500 miles. When I'm coming to a stop that I'm trying to keep smooth, the car feels like it slips at ~5mph then stops hard. I think I'm going to try what Bruce said to do because it's highly possible that the brakes have a lot of buildup on them (I drove the brakes very hard for about 2000 miles (at least 10 occurrences of ABS intrusion) then backed off when I cut it a little too close)

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2006 BMW X5 4.8is Lemans Blue/Beige/Dark Maple
-Nav, Comfort Seats, Heated Steering Wheel,
Rear Airbags, AUX Input
2009 BMW M3 Space Grey/Black/Carbon
-all options