ABS light sometimes turns on and there is a wooing sound when applying the brakes

I have the vehicle listed above that the ABS light comes on sometimes while I am driving. It also occasionally makes a wooing sound, sometimes when I apply my brakes and sometime when I first start to drive. After I get the speed up beyond fifteen mph, I do not hear the sound. However, sometimes, at very low speed, when I apply my brakes, there is a thunking sound and sometime even a chatter and it does feel like it wants to stop moving. Then it goes away and may not happen at all that day, unless it sits still for a couple of hours and it starts all over again. I was told that it was the left side front wheel hub so it was changed, yet it still does the same.