First problem is my 05 TL when it's idling I can feel the engine jerk a little bit, its hard to explain it but the engine has a jump to it when idling. Second problem when applying the brake slightly I get a anti- lock feeling when I step on the brake slighlty

 

motor mounts, do exactly what the name implies. mounts the motor.
the engine does torque or move, wearing out these motor mounts.
a worn motor mount will make the engine torque or move more pronounced.

TIRES, are very important.
if you're losing traction, it will engage ABS.

 

I was thinking the idle issue you are referring to would more likely be the A/C compressor kicking in and out which causes the motor to drop RPMs and then quickly recover. Our 05 does this and it is definitely noticeable.

 

Second problem is most likely worn brake rotors. Have a shop replace them or turn them to make them not vibrate any more.