Simply go out on a deserted road and do a panic stop from say 30 MPH. The ABS will come on and you will know what the ABS feels like. It is unmistakable I believe and will let you know if what you experienced was the ABS.
Whether that is what SHOULD have happened is a judgement call on your part. You can chat with your local service tech also to support you own call on this.
Let us know how it all turns out.
Good luck!
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