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A light is not suppose to come on. I would check tire pressure to make sure they are even on both side and check tire wear. Excessive tire wear can cause ABS to kick in earlier. Also older tires with harder rubber will do the same. ABS should kick in right before lock up. Sounds like everything on your system did what it's suppose to do. Keep you in a straight line and apply as much pressure with minimal tire slide. The better the rubber you have, the more grip you will have, the later ABS will kick in. You will feel a little fludder in your brake pedal when ABS kicks in, perhaps this is what you are describing as the hop/skip?
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