I will gladly admit that the GM ABS system leaves something to be desired. They've improved it greatly, but 2000, and prior vehicles definitely don't feel "comfortable". That being said:
DITCH THE ABS
I've done so on many GM ABS equiped vehicles. It can easily be done by unplugging a front ABS sensor. The ABS light stays on, but, who cares. Cover it with a sticker.
If you really feel strongly about ABS, as I do, then don't use it. I hate ABS. So, I remove it from the equation.
By unplugging the ABS sensor lead from even just ONE of the ABS sensors, the earlier systems are rendered useless. I simply unplugged (the lead has a pigtal located up in the wheel well, running under the lip of the inner fenderwell towards the rear of the wheel well) the one on my S10, and it will lock up all 4 tires now, IF I want it to.
Give it a try. My stock brakes were good after I did that.
I want to make clear that this should only be done by competent, experienced drivers, and that they should; following this excercise, find a safe place to get used to the vehicle's characteristics without ABS. Someplace remote, and big....
Don't worry about the competent driver factor, I've driven as my job for the last 2 years, in all kinds of weather.
I'm experienced to say the least :-p
I would go through with that, but having the ABS has been somewhat of a blessing as I often have 2 wheels in the gravel and 2 on the pavement.
The vibrating pedal can be irritating, but I'm learning to live with it.
It's just no Subaru, and that's my biggest complaint.