It sounds like you have a front axle bearing that is going out which houses the ABS sensor. This will cause the ABS light to come on and the car to catch and hesitate.
Here is a guide to show you what you are in for when doing the job.
Here is what it will be like for your car (below)
Please let us know what you find.
Saturday, January 20th, 2018 AT 7:21 PM