It's safe to drive cautiously. The hydraulic components of the braking system are still intact and solid, it's just your braking ability will be diminished at the end of every stop. So I'd avoid bumper to bumper traffic. You can pull the abs fuse for the time being to eliminate the activation, but I'd only do it temporarily. ABS is a nice feature to have. It is worthless in snow and ice, but panic stopping on the interstate it is super helpful at preventing wheel lock and accidents.
With that said, I don't know what your mechanic saw. Maybe the ecu has failed and is causing your problems. My suggestion was based off of your symptoms and me having experience fixing vehicles with that identical symptom.
Your abs unit has an ecu and intelligent diagnostics, so checking for codes would be step 1 for me. If nothing comes up as wrong, and everything seems to be working correctly, I would then go through and see which speed sensor is weak/dropping out on a test drive.
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