Don't know if anyone had seen this before but here's a great argument for ditching the stock ABS.
I have this conversation a lot about OEM ABS systems in race cars and I have even talked to Randy about this. I'm going to politely disagree with the assessment of "Ice Mode" just to prevent any confusion on this.
Ice mode is not a function that has been programmed in to the units I deal with in the Mazda realm. We race the NC & ND MX-5 currently and deal with this theory. This is one of the major considerations for spec brake pads front and rear in our series cars. There are a few major reason this can happen and steps that can be taken to prevent it as well.
Pad selection is a major consideration with the compounds front to rear. Generally speaking the farther apart the pad compounds are front to rear the more sensitive the system will be as it see's the initial bite and the deceleration rates differ. What the system does is calculate the deceleration of the wheel with the reluctor wheel and referenced the programming for that. It is then compared to all the other wheels and if possible a VSS signal (Some don't use a VSS that is separate).
Tire selection can come into play here also and can mask a lot of these symptoms. Most of the time the drivers don't notice at a novice level. So tuning the pads and the tires to the ABS becomes two tuning tools to consider. Modern ABS systems are programmed down to the OEM equipment tread block design of the tires this is how much detail goes into it.
Lastly we have driver inputs that effect the system this can be as simple as a rumble strip, dropping a tire, hitting sand on the track or simply overdriving the corner and thinking I have ABS it will save me. The last think to consider from a driver input stand point from data and experience is how you apply initial pressure to the pedal with an ABS system. The drivers that slap the pedal will have more issues then drivers that apply firm even pressure. This is due to the shock loading of the friction circle.
https://www.jonathangoring.com/understanding-friction-circles/ 
The key take ways for this are to think of brakes more dynamically than a race compounds and adjusting bias when it comes to ABS. Keeping the compounds close in friction front to rear to match wheel deceleration rates with the tire being used will help fine tune this. Not thinking ABS is the end all be all fail safe to pull you out of a situation that was clearly drive error and over driving the corner is another.
For example this is the pads we use on the MX-5's
Front pads - https://www.pagidracing.com/en/products/racing-brake-pads/product-family-rst/rst-3.html
Rear pads - https://www.pagidracing.com/en/products/racing-brake-pads/product-family-rs/rs-44.html
It was popular to use the RX-8 ABS in the MX-5 race cars, this would also be a good swap option for the FD. This system just needs power, ground and wheel speed signals to work as a standalone unit and it rivals the BMW programming to from what we have seen. There is a built in pressure sensor to use for driver inputs and training. This is an important sensor when it comes to changing friction levels on the tires and brake pads too.
