I just went through exactly that. Hard turns and str8 quick takeoffs, then the light would go on. I knew my breaks were almost gone so I replaced them myself. It didnt do it anymore. Even if u see that your pads are thick still, the inside part could be gone. Wich was the case on mine. After i changed the pads, everything was normal again.

98 with Eibach Springs, Mille Miglia 17", Flowmasters. Daily driver.
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72 Datsun 510, Weber side draft, Roll Bar, 16" 300zx wheels, 300zx turbo break system. 300hp on the rear, weekend driver.