2004 Nissan Armada electrical system problems

I purchased a nissan armada in april 2004 and two months later had to bring it to dealer for repair as the brakes were shuddering causing tremendous shimmy in the steering wheel. The dealership, nissan thousand oaks, did not replace the "warped rotors", instead "switching" them around and replacing the brake pads. The additional problem of a rattle and squeaking sound from dashboard resulted in the dealership realigning the dashboard properly. Two months later I was back at the dealership to fix the brakes again.

Brake jutter, grinding, shaking when braking. ABS vdl slip brake lights up on dash--unable to turn off. Stopping vehicle and restarting corrects the problem sometimes; other times the light stays on. Brake pads originally replaced early after purchase in 2005 when the vehicle was still under warranty. The vehicle is rarely driven--there is approximately 36k miles on the vehicle--but the problem has been persistent over the years when driven.