I have noticed similar with my 2002 edge. I believe that do to the ABS sensor being in the diff we are not getting 100% response from the ABS as it only happens for a second on mine.
if your both having that problem and there 2002's then you most likely dont have a limited slip or trac loc rear end.. meaning its sending a signal to the abs saying im working fine. when really the right rear is getting to much fluid and braking harder, thats what mine does regardless of having my abs hooked up for not.
my 95 started doing it one i put in the newer explorer rear which is an open diff(no limited slip or trac loc)
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