My truck has reported a communication error with the ABS System as long as I can remember.

I did not see any symptoms as a result of this until just recently. In some instances my break peddle jitters, like the ABS is activating. In other cases, the boost seems to dissappear for about a second and then the peddle jitters before the breaks come back.
Theses symptoms have come close to getting me in an accident a couple times; the truck does not begin to slow down until these symptoms go away.

What could be causing these symptoms and how do I diagnose the failing component?

Is the communication error a part of the problem?

My AE tells me there was a record that the MIL came on, however, it is not present at this time. The stored code is U1900.

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Sorry, the stored code was U9100, not U1900.