When I brake lightly when coming to a stop I noticed that my ABS sounds and feels like it is kicking in on dry pavement. Its the same feeling as if the truck were sliding to a stop in the snow.
I am not sure why this is happening, but it only happens when I apply light pressure at lower speeds as I am slowing down. When I am hard on the brake, it is completely fine.

I am not sure what it could be, but I know I've had all my discs and pads, the master cylinder and the brake booster replaced as of this past summer, and have put less than 6k miles on it since then.

Any help would be greatly appreciated.

 

I would be looking at the rubber lines...

 

How old is the brake fluid?

 

The lines and a general check, ABS sensor adjustment or maybe one is failing.

But first, check air pressure in all the tires. A low tire can cause the symptom.