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If the problem is only happening at slow speeds,then check the ABS rings on the front CV joints for damage.It sounds as though one has split which is fooling the ABS into thinking that that wheel is locking up,hence it activates the system.
I have had this on a number of cars before.
If the rings are OK,then you have to suspect that the discs are warped or damaged.Check the CV gaiters as there have been instances of grease getting on the backs of the discs which can cause a similar problem.
I'd definately check the rings first,though.
I'd rather push my Alfa than drive a BMW....
Currently in Lagdti's garage:
2004 Saab 9-5 HOT Aero and a 2001 Audi A3 1.8 Turbo