Have you checked it with ODB scanner for codes? If you are planning on keeping it for several more years, I would just start replacing everything related to the system starting with the ABS brake module/pump motor and see if the problem persists. I wouldn't drive it until you have this issue...
Boriqua from south Florida here. I feel your pain brother. Not to get too personal but I have three kids in major universities. My youngest begins Florida State University in August and he needs a car like yesterday. My daughter works part time and drives a beat up '06 Altima she also needs...