I live in VT and work in NH. I used to own a 2010 SR5 4x4, and now I have a 2013 Sport 4x4. I guess I must have gotten 2 special trucks because after 3.5 New England winters the ABS has never acted up in the way some of your's has. Maybe this is only on older models? (I didn't read the entire thread)
I have felt it come on briefly from time to time, but it immediately shuts back off within a second or two, and immediately if I release the brake and gently press it again, the same as any other vehicle that I've owned.