It only does it empty. Everything feels normal when loaded. And we are almost always full or empty, no partial loads. This is also an air ride trailer. The ABS seems to only be connected to the rear axle. When I asked the shop about it, they said it is common to only have it on the rear axle.
Mine had a similar issue. It turned out to be just loose screws holding the wires on the back side of the light socket, causing intermittent power to the ABS