First thing I would try is to disable the ABS. Not sure how to do it on something that new but on older stuff there was a big fuse in the underhood fuse box. Removing it would put on the brake and ABS light but did disable the system. You want to try this first because its possible that there is a sensor issue that is making the abs system think there is one or more wheels locked so its engaging the system to try and help you stop. With the fuse out it cant do anything so you are left with a purely mechanical system. If it never does it with the fuse out then you need to get a scan tool on it to see which wheel its staying is locking up and that will be the one with the bad sensor. New sensor (which could be a hub assembly) will likely fix it. WHen the pedal drops you get that vibration like the ABS normally does but the pedal does not kick back at you.
The symptom with the hydro boost is like you describe where its all fine till you get to the point where you need to apply extra pressure to make the complete stop and at that point the pedal just drops. A split second after it drops the boost kicks back in and the brakes respond like you just slammed the pedal to the floor which causes you to lift off which of course does not make the car stop so you push down again and the whole process repeats. I guess what causes this is wear in the 'sweet spot' in the booster. IN this spot that it spends a lot of time at some fluid bypasses the piston so you basically loose the boost but as soon as you move it further it seals again and you suddenly get boost. Another symptom of this is when the boost kicks back in the pedal kicks back pretty hard. It really kicks, its not a slight vibration like the abs its a good solid thud. I was told that once they get that bad its like any other piston like thing where machining is required to fix the problem so its not a typical DIY repair, you end up getting a new or rebuilt unit.
A worn MC or just generally messed up brake system won't usually give symptoms as specific as the booster or ABS.