Do you have different tire sizes (diameter) on the back from the front? The front/back tire diameters have to be within a certain percentage of each other (8% I think). If too much difference, the ABS sensors think that the wheels are slipping because of the the different sizes.
Do you have a custom tune? How about a different axle ratio or non-stock tire diameters?
An yes, the P1635 DTC would be related to ABS problems.
P1635 - Tire/Axle Ratio Out Of Acceptable Range
This Diagnostic Trouble Code (DTC) indicates the tire and axle information contained in Vehicle ID block (VID) does not match vehicle hardware.
Incorrect tire size
Incorrect axle ratio
Incorrect VID configuration parameters
Using the scan tool, view the tire and axle parameters within the VID. They must match vehicle hardware.