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I have had similar issues with my 2016 Camaro SS. It occurred twice: both during regular highway speed driving, when braking normally the brakes suddenly stiffened up tremendously and pulsed (the ABS pulse). The message "service brake assist" appeared. After a restart, the car no longer had the issue.
I took it to the dealer and they could not find the code (it was several weeks later). However, I'm taking the car back to the dealer and telling them to look at the TSBs closely because I know there's a software update for this.
It doesn't help that GM was involved in a class action lawsuit about brakes failing on their SUVs.
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