My 01 when it comes to brakes has never been perfect but lately it’s becoming a mission to drive.

When I drive in bumper to bumper traffic, my brakes stick after a few stops, when I take off they are rough then after a while they shudder, when that happens if I go to press the brakes they jam on.

My abs light comes on sometimes when I start the rig and goes away after a few seconds, I’m wondering if I have a stuck caliper of this could be a master cylinder issue?

Drums were redone around 12 months ago and the front rotors and pads were new at the same time,

Any ideas what to look for?

Groove worn where the calipers slides?

If they are sticking you need to determine if it is for hydraulic or mechanical reasons.
jack up the front and take the wheels off, put 2 lug nuts back on to hold rotors in place, press and release the brakes until they stick, open the bleeder on the caliper, and if fluid shoots out and it frees up its a hydraulic issue. Like a bad caliper, hose or both.
If it still binds its a mechanical issue, like possibly grooves worn in the knuckles like country2 mentioned.

sometimes you can detect if one is sticking by touching the hub (or with extreme caution, the disc) IR gun is better

Too old brake hoses can cause this..how old are yours ?

I would bite the bullet take off front wheel, and caliper, inspect knuckle very close for ant indentation, if so report back for fix

It can be the rod between booster/master, if it has been altered, or possibly sticking

You mentioned an ABS light, I do know the ABS motor is a dastardly complex thing