To close the loop on this, I just did a front brake rotor replacement, and it resolved the issue.
Longer version: I just did some maintenance over the holiday break, and one of the things I did was replace the front rotors. They were both down to <25mm (new 28mm, replace at 26mm for 2000S). The pads had >10mm so I left them and just replaced the rotors (odd?) I went ahead and did a bedding procedure (I did about 7 or 8 60 to 15 decelerations and then drove for about 15-20 minutes and then parked without ever touching the brakes.) Later on a subsequent drive I decided to do a quick stop and activate the ABS and the issue did not re-occur. Problem solved
Steve
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