99 Eddie Bauer Explorer ABS light
 

I'm the owner of a 99 Eddie Bauer Explorer which I recently purchased. After test driving it, i believed that the brakes, rotors, or both needed to be replaced because it would shudder if the brakes were pressed while driving at highway speeds. However, after taking the wheels off and looking at the brakes and the rotors, this does not appear to be the case. All four sets of brakes and rotors look just fine, no warping or irregular wear. Also, the ABS light has been on since purchase. Could the ABS be confused and making the brakes pump causing the shuddering or could the rotors be warped even though they look fine and the brakes are not wearing irregularly. Any help with this would be greatly appreciated. Thanks.

Little bit of both rotors could be warped or front-end issues rise front wheels off ground and shake up and down and sideways should be very little movement

If you haven't found the cause yet, consider removing the ABS fuse and see if there is any change.