Hello, Im encountering this problem recently and it's making my drive worse. The ABS motor is randomly making this buzzing sound. Any suggestions on how to fix it?

I've tried searching the forums came across a few things that have SIMILAR problems but nothing the same....I have a 325ci 5spd. If I put my car into reverse and break nothing happens but right after driving backwards and breaking then putting it in 1st and going forward and break my car makes a...