There is a vibration from the brakes shaking the car at crawling speed like right before coming to a stop. Is this a common problem? And what's the fix?

 

NO not normal.

Mine did that. Tried all sorts, eventually I unplugged the ABS module, problem solved.

Then read about issues with dry solder joints inside that module, had that sorted, never vibrated again.

That unplug is a FREE diagnosis, and if it does NOT change/fix that vibration, then teh $$ start getting needed.

My "R" did it twice on the home bound cross country run, and I also unplugged that module until I got home, and had that one sorted as well.

NOTE, REPEAT NOTE

With that module unplugged you have NO ABS system. the brakes work fine, just like any None ABS car, just YOU will need be aware of how you drive, as there is NO ABS.

If you are uncomfortable with that, OK. Modules are out there.

 

The issue, I think, is dirty ABS sensors. My jag isnt particularly badly affected, but other beloved cars suffer from it if they have been standing idle for a while. I find it can be worse if I am turning, say into a parking space, and for the last revolution or so, the abs just releases one of the wheels briefly. Reinstating regular use seems to clear it pretty quickly, but I have on occasion cleaned the sensors and reluctor rings which has solved it. I have only ever experienced it on a front wheel, and I think it is caused by the dirt causing there to be a marginally different signal being generated by each wheel. Not a big deal when driving along, but proportionately much more significant at very low wheel revolutions, causing the abs system to think a wheel has locked.