I went through this same scenario of brake lockups for months. 2014 ST with only 16K miles, like new really. Dealer had it 4 times with the following attempted fixes: New rotors (small lip on edge), nope. Replace one caliper that appeared to be sticking, nope. Replace brake booster and various brake switches, nope. Replaced master cylinder, nope. Final part that fixed the issue was part number d2bz2c405e "ABS Control Unit".
This was worth 2.5 months cumulative time in the shop. I hope this shortcuts the diagnostic time for others in the same boat. Btw, it acted like hill assist, but I had that setting off.