Occassionally brake pedal feels "slushy" no abs light no problem stopping.

i saw a guy take his car to a front end shop not long ago,shaking,rattling,but rolling,hit brakes,it was very bad.the tires were almost driven off this car,that front end guy called him and said come get this car and go put some new feet/tires on it.he went and put new cheap Primewell tires i believe on it,drove like a new car and it was 23 years old.may not be your problem,BUT it show was his!