I was invited to write an article and here it is: Toyota Braking Problem Investigation The article was more about engineering practices but my thanks again to everyone who helped us run this problem to ground. Bob Wilson
Unless I am mistaken the subject "lurch" or "surge" is the result of the switch to ONLY frictional braking upon initial ABS activation regardless of prior braking techniques/modes.
I actually got notification of this article from an EE Times email newsletter a few days ago. When I saw "The pothole did it: A Toyota Prius owner's Investigations: into the “brake pause” problem, learns all about road discontinuities", I glanced it said, "hey, I know that guy." I didn't get around to posting the news here... been busy.