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I would suspect that you have a front ABS wheel speed sensor intermitently loosing the signal at low speeds(probably the one on the opposite side to the pulling)This will cause the ABS to operate on the wheel that looses the signal and cause the pedal to pulse or ratchet.Since this occurs at a low speed the ABS module thinks that the affected wheel is locked up and backs the pressure off to that brake and generally doesn't set a code.Monitering the system sensors as per the shop manual would probably confirm this.The repair,if this is the problem,is to replace the affected front wheel speed sensor.Probably the first thing to do is to retrieve any codes for the ABS.
 
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