My moms Avalon make a weird noise when the brakes are applied at lower speeds. It doesnt do it every time the brakes are applied but does it quite a bit. You can feel what feels like the ABS engaging and a buzzing noise inside the car on the passenger side. The only way I can explain it is that it sounds like buzzing noise from a old operation game. The ABS light doesnt come and has never been on.

I stopped at a dealer and tech said it sounds like the actuator but cant tell unless tears it part and can be like 1k. I am kinda confused why the ABS lights dont come on. I want to try to diagnois the problem, but have no idea on how to do so. I was hoping it might a wheel sensor. Would a regular shop be able to diagnois this or this a dealer only type of repair

any ideas at all?