ABS Issue on a 2004 Tacoma 4x4

I'm the proud original owner of an 04 Tacoma Limited TRD 4x4. I've always had a problem with the ABS being VERY sensitive. Even going over a small pot hole (I live in New England by the way!) I feel my ABS kick in and the break pedal starts pulsing lengthening my stopping distance quite a bit. Have come close to rear ending cars in front of me. I've been driving for close to 30 years and have driven many pick-ups in that time.
I've driven late model suv's and could stop on a dime, My Tacoma? NO WAY!
One thing I did notice was when I did a brake pad change.
Front pads where worn (expected) but the rear pads had plenty of meat on them almost like new and didn't bother changing them.
Could it be a pressure issue? One of the front wheels locking up slightly causing the ABS to kick in?
How can I check this? I'm hesitant to bring it to a dealership because the last time I did that they wanted to replace everything under the sun! This was just for a routine yearly inspection. What are your thoughts on those big chain brake places (ie Midas, Meineke etc) I'm willing to replace pads, drums and rotors, whatever it takes.

 

I will defer to others more knowledgeable about this issue, but welcome to TW!

 

welcome after changing the front pads try bleeding the brakes if you haven already done so.

 

remove abs fuse if you want it gone

 

Welcome to TW! Since this forum is for introductions only, recommend you check out the 1st Gen. Tacomas forum and Tacoma Garage section for advice on your issue.