Hello Scotty, I currently have a 2006 Jeep Grand Cherokee V8 AWD with roughly 140,000 miles on it. Two years ago the rotors and brakes were replaced. A few months later I had one wheel stolen and was set on top of blocks. A few months after that I had to replace the alternator. A few months after that I had to replace the water pump. Replacing the water pump had the car sitting without a battery for 2 weeks (had to leave for a work trip). Once I got the car back up and running, I took it for a drive to see how things were. About 5 minutes into the drive I was turning left on a green light. I hit the gas pedal and the car seemed to shudder and brake aggressively. I let off the gas and the car idled normally down the road. I went to give it gas again and the same thing happened again. When I pressed the gas even more, it made it worse. The braking was only coming from the front two wheels and it seemed to alternate or at least not be in sync with the braking. One wheel would let up and the other would brake and visa versa. It was really strange, something I had never seen before. Took it to the shop and they wanted to charge me $800 for new rotors and wheel speed sensors. I declined because I just had the rotors replaced, and I knew I could easily replace the wheel speed sensors on my own. To get the car from the shop to home, I had googled that there is a way to turn the abs brakes off completely just by pulling a fuse. So I pulled that fuse and drove home without an issue. I replaced the wheel speed sensors and tried it again. Same issue. I decided to just drive the car without the abs brakes for the time being (no speedometer either). However, now that it is winter and don't feel safe with anyone in my family driving the vehicle how it is, any suggestions? What could this be? I really don't think it's the rotors at all. I don't think it has anything to do with the wheel speed sensors. It seems odd that this occurred directly after the car was down for 2 weeks (battery unplugged) while I was replacing the water pump. Any thoughts would be great! 

Thanks