Further, that noise and pedal feel are the ABS solenoids actuating...that is impending lock-up via high speed pulsations fed by info the wheel speed sensors give the ABS controller.
If the truck has an empty bed, the ABS may be kicking in a lot due to wheel hop and/or the light load on the wheels not giving any traction.
Back when ABS was just going mass-market in passenger cars, people got scared when this happened and let up on the brakes, which skewed data on whether or not ABS reduced crashes.
If you ever brake hard enough to activate the ABS, keep your foot on it until you are back under control. Just like any tool I advise people to ‘practice’ how their car reacts under different conditions. You know, go lock up the brakes a few times in the snow-covered church parking lot, as to desensitize you to what the car does…