Was curious if this is a standard thing or perhaps i have a problem. When slowing to a stop, sometimes the ABS will kick on once it reaches 5mph and down to 0mph. It will do it intermittently, as i've tried to recreate every possible scenario to see if it does so under a certain condition. I have recently replaced the rear rotors/pads. The front ones were replaced about a year ago and they look good (could be warped tho, i have a small shimmy in the steering wheel when i start to slow from highway speeds). The previous owner also had the front left ABS sensor replaced. Could the right one be bad? I get no message or CEL. I don't want to just go in there and start replacing everything.

The only way to know for sure, is to have the code(s) pulled, but most likely you have a bad sensor? What kind of car is it? If by some chance it is a Mark VII, "too little" bearing preload, or loose wheel bearings can cause this.