ABS light is on and off when I restart the engine

My ES300 has 211k, and the ABS light is on. But every time I restart the engine, the ABS light is off. And when I press the brake, the brake paddle start dotting, after several time of braking, the ABS light is on again and the dotting stops. This condition last for couple of months until these 2 days, now every time I press brake, the car shaking and sounds like it is going to shut down the engine. It did shut down the engine once.
Is it caused by the ABS? Is it worth to fix it? Can I just disconnect the ABS?