The G80 in my pickup only will engage below 30 mph, to avoid what you describe. As I said before though, the stabiltrak will kick in first.
I disengaged the ABS on my first truck which had it, after doing $300 worth of front damage (2002 prices) when the computer wouldn’t let me stop for a washout on a gravel road. After that the truck stopped much better on snow, especially. One day somebody looked right at me and pulled out when I was about 25 feet away. I’d have taken him right in the door with ABS, but it made me realize that if I’d hit him I would be at fault, because of the disconnected computer braking.
From several comments people have made I suspect that it’s more refined in a car than the brakes in a pickup. I often use the parking brake when running in 4wd if I’m on snow and need to stop before the computer thinks I should.