so this just started happening recently. when i have to brake really hard the ABS and brake light come on until i ease off the brake then they go off. Has anyone else had this problem?

On a side note i have a stumble or a stutter when i let of the brake at a stop and hit the gas to go. it only dose it for like a seccond and then once im over 1 mph its fine no stutter at all. i was thinking spark plugs and a tb cleaning. Any input would be appriciated.
thanks Kyle