I haven't had this problem (yet) on an '03 3500 with about 148K miles on it, mostly towing - actually it is a 3601, since it was a chassis/cab incomplete vehicle.
I had a front wheel speed sensor go out about a year ago, which didn't seem to exhibit any symptom other than ABS cutting in at around walking speed - PERFECT braking from higher speeds.
Anyway, by the time I got to it (for other reasons) it seems the other brake had been doing a lot more work so the pads on that side were worn WAY down.
The disk normal surface rust on the side with the bad speed sensor hadn't been scoured off daily, so it was quite pitted.
The hubs themselves were FINE, but the wheel speed sensor is embedded in the hub so it all has to be changed at once.
Bahh, all told two new hubs (might as well while I'm in there) disks and pads - all Rockland Auto web ordered and DIY installed.
Not too bad a job, once you realize that the hub needs to be knocked around in the knuckle to spin it out and screwdrivers as WEDGES can be used to force it out.
2nd one went a LOT faster than the first (-: