When I put my foot on the brakes, I can feel a clicking from the pedal

The description sounds like ABS activation. That can be caused by a few things, one common one is a bad wheel speed sensor another is a bad ABS tone ring or rust jacking of a speed sensor. The last one is very common, and it means that rust builds up between the sensor and the hub and pushes the sensor away from the tone ring. The common symptom of it will be that you step on the brakes and slow down and everything is okay until you get slow enough that the signal drops out and the ABS comes on. For the other two issues you normally will have the ABS light on unless it isn't a constant fault. In those the speed doesn't matter, and the ABS comes on at any speed. If the light is on it will set a code which can be read with a scan tool. That would point you to which sensor is the issue at least. If the light isn't on you need a scan tool that can show you real time data from the wheel speed sensors. Then you watch for the one that's either not reading or is reading wrong. On some you can use a meter to test, this shows a digital meter, but an analog usually works better for this test.

https://www.2carpros.com/articles/abs-wheel-speed-sensor-test