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HELP brake light ABS ETS (!)BRAKES chevy cavalier

1999 Chevy cavalier. Since 2010 Brake warning lights come on intermettently ABS, ETS (!)BRAKES, and traction. Brakes jerk the car forward a few shot times before car comes to a stop, car stops fine 90% of the time. Three different mechanics can not find anything wrong by looking at brakes and I'm lucky if they can drive it and have the problem happen which is basically every other day. New rotors were put on in 2010 twice first time they were warped, wheel cylinders replaced or whatever they do to them recently. Dealership said I needed new rotors I don't think they know. Please help I'm scared to keep driving this way.

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