Brake Sensor problems of the 2009 Toyota Tacoma

Braking inconsisency, usually in stop and go or unexpected traffic stops, say at traffic lights and intersections. Occasionally the efficiency of the brakes varies, usually causing concern that one might / will not be able to stop short of a collision. Ie near misses. This condition is experienced even on dry excellent road surfaces in normal weather conditions. Surprise, longer than expected stopping distances, questioning if all the brakes are functioning or if abs is cutting in prematurely. Occaional long rollouts stops and a couple of experiences where I had to alter heading to almost pass up along side the vehichle ahead, during a freeway stop and go, panic stop has made me suspect that there might be a relationship with the axle-wrap (tacoma) phenomenon. Could the excessive brake bias caused rotation of the rear axle housing and abs sensors be imparting a premature false, impending wheel lockup signal, to theabs computer to unnecessarily bypass fluid under pressure back to the resevoir and thus not maintain full brake pressure to all four brakes/wheels during medium to heavy braking on good road conditions? not all stops produce bumping (axlewrap) and only on occasion is reduced braking a major factor, however they do occur and usually when you are not expecting it. Toyota dosent seem to have a solution to the axle-wrap reoccuring discrepancy. Dealerships seem to believe that if there was a serious problem then Toyota would tell them about it? unusual brake shoe wear patterns exist. On subject vehicle the rear shoes at last inspection appeared to be about half worn away and the front disc pads were relatively little worn and one could expect that the backs would need changing two to three times relative to the front discs once. This may support the theory that a severe brake bias exists and could be due to a malfunctioning abs system? technicians from Toyota have driven the vehicle and have not recommended any solutions or corrective maintenance. 5/10 - 5/11.