If you unplug one of the wheel sensors, it will disable the ABS. The ABS and TRAC lights will be on all the time, but it will eliminate the ABS having to cycle a few times before disabling itself.
I'm in the same position as you. I had a pinched wire on my right front wheel bearing, so I unplugged it. Finally changed the bearing and all was good for a few days before the ABS starting spazzing out and shutting off. I now have to pull a wheel and unplug a bearing cuz as you say, when the ABS cycles under normal braking, it is hard to stop. LOL