One problem related to abs brake fail has been reported for the 2004 Suzuki XL7. The most recently reported issues are listed below.
Brakes made loud grinding noise, have had brake pads/liners replace 3 times in the last several months. Problem will not resolve. Brake pedal becomes mushy and abs has failed several times. Seat belts lock and stay locked at the slightest braking pressure and/or vehicle speed and do not release for several minutes. This is a serious problem that no one seems to want to address.