It takes a while getting used to the ABS. You should have seen the first time I drove my 09 tocuma on fresh snow. I tried to drive it like the 98 Tocumas in 2wd or the older toyota pickup trucks drove in the snow. I had all the VSC lights on TRAC lights on and was sideways on the road in less then a min. Then I figured out what all this changed and was able to drive it with no issues.
I've never had a problem with ABS in other vehicles but on the 3rd gen it seems to be really poorly designed. It works ok on fresh snow but in packed snow, ice, slush it basically turns off my brakes until I do a leg-press on the pedal. I have to play it super careful on ice and start feathering it like 1/4 mile from a stop. Brake system is in good shape otherwise and I even tried replacing the ABS rings and stuff like that. I've read other people complaining about it and some people have just pulled the ABS fuse. Heard a lot of complaints about the 3rd gen VSC too, but my 99 doesnt have VSC.