I had a 2013 xterra that did that because of a bad wheel sensor. It would do it until the system recognized a problem and disabled abs. It would happen every time I started driving for the first 3 or 4 stops.
If your abs light is on you can grab the code and see what the problem is. Could be more than one thing with a truck this old. They are also known to have a host of abs issues.
If your abs light is on you can grab the code and see what the problem is. Could be more than one thing with a truck this old. They are also known to have a host of abs issues.