I notice the issue in terms of a clunk sound and slippage feeling with a specific tire(s) as I said, off-road with one or two tires in sand, and is obviously ABS related.
Also noticed it to a much lesser degree if I am on pavement and hit a spot with lots of gravel or sand on the road with just one or two tires, while coming to a stop.
In both these instances that is normal really, and yes I know it's not hill hold or downshifting. If you notice it while coming to a stop, not already stopped, and notice it only with one or maybe two wheels, and are on solid pavement with good traction, equal at all 4 corners .. something isn't right.
Doesn't make your car a lemon however does mean there may be something strange happening due to software or hardware. It happens. Could be a bad wheel speed sensor, could be a lot of things but best to get it looked at. He sure it isn't hill hold, or just the car downshifting, be sure it isn't lugnuts under or over tight. After all that... Still have the issue, get it looked at.
Some lay remember a post a while back where I mentioned looking at the Ferrari AWD and realizing it has the same programming as race mode in an Alfa. I was looking at that car because it had an opposite issue, one wheels wasn't responding right when it needed traction. Wheel speed sensor.... Took a while to figure out with no codes, but .. yup.
Here could be many things.... I would start by asking for a software reflash. If it were me.
BTW, Studebaker introduced hill hold, designed by Bendix and called NoRol. Was avalible on the Nash even, Mom's 80's Subaru Station Wagon had it, drive lots of cars with it personally.