We are having the same issue with our 2016 NIssan 3500 passenger van. Has happened three times now: first two times: no problems other than a little scary. Third time rear ended another car with very expensive body damage. Happened at relatively low speed (about 20 MPH) on all these occasions. Each time there was no braking of teh vehiucle despite pressing the brake pedal, followed by some intermittent shuddering attempts to brake but no real slowing of the vehicle. We asked our dealer to check it out once. They checked pads and rotors, which were still acceptable, and the computer made no report of ABD failure. This latest time we brought it to our non-Nissan mechanic who we have known for years. They recommended new pads and turning the rotors, but also ran a computer diagnostic test that showed no misfire of the ABS. We'll bring it to the dealer as well to see what they have to say.
Just thought I'd share in case others are having the same problem.