Sometimes when I hit the brakes, hear a groaning type noise from the front

Have the ABS system scanned to find out which wheel speed sensor is dropping out! (I am pretty sure!) Also the wires/connectors give a bit of trouble, most of the time on the right (pass. side) front! The "groaning" noise you hear is the ABS system releasing pressure to the affected wheel, will sound like it is coming from firewall as that is where the controller is. - (It's not the brake pads or calipers!!!)

Sounds like you need brake pads and rotors turned.