Two months after I purchased the car brand new in 2001 I had problems with the car backfiring. It took three trips and a complaint filed to have the problem corrected.
Now I'm having the same problems that I had 2 years ago. The car kept shutting me out. It won't start. The security light is on. The first time they told me it was the fuel pump. I replaced it and 2 weeks later the car shut down again. They said it was the ignition cylinder. I replaced it now 2 years later the same exact problems. The dealership has been very difficult to work with.
Also right now, the Tract Light and Anti-Lock Light stays on. My driver side window is broken - all I need is the clips, but have to order the entire window.
This type of car is not reliable. This is the last time I buy one made by them. The service departments are difficult to work with. I have made two offical written complaints to the maker of the car.
Your wheel speed sensor is probably not working and needs to be replaced (just a guess as it happened to mine also) But you could also check the wiring harness first.
I just put slotted and drilled rotors and ceramic pads on my GLS.
It is a fun car to drive.
With respect to the braking issue the calipers seem to need a lot of maintenance.
Unfortunately mine is in the shop for a second intake manifold gasket. In a short period of time (25000 km).
But I guess that's just the way it goes when you drive a seven year old sports car.
One of the best handling cars I've had. Corners like a dream.