thanks for the suggestions. I'm worried that the ABS, the tire wear, and my braking problem is all related, but I'm not sure which is the cause.

I don't feel any bumping of the tire so it doesn't feel like a tire balance issue. Plus, the wear is evenly at the inner edge instead of the cupping you'd see from a misbalance.

What could be bad about the tie rid? I didn't notice any bend problems yesterday... but maybe I need a closer look. What could be wrong with the tie rod end?

Brain storming, how about bushings getting worn?