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ABS is more related to wheel slippage than actual hard braking. In other words, if you were braking hard AND the wheels began to slide, then the ABS would kick in. Putting it in neutral shouldn't really have any large effect (assuming that it's an ATX), or, if it's Manual, is a very handy aspect to stick.
That being said, my ABS kicks in at any amount of slipping. Toyota's might just be computerized differently. Also, make sure that you were pressing the brake hard to the floor without letting up - if the brake isn't fully depressed, some ABS systems do no apply themselves.
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