: Is this normal?
Yes, you most likely hit an expansion crack or a bump
: What can I do?
Some say that new shocks help, new tires, and even new brake lines. A lot of folks just pull the ABS fuse.
Good link with more info:
: Is something wrong with the braking system?
I would say in general yes. The problem is that all Rodeos have the same problem. That is a senisitive ABS system.
: Are the brakes safe at high speed (50 mph or more)?
There fine as long as you don't hit a crack or a bump in the road. I still have my fuse in my 00 with Original tires and shocks. I had to relearn how to brake with this truck. Brake sooner so I can easy up to stationary objects.
: Any TSB's or recalls in effect?
check the links:
Fatal crash story: