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I would say that unless the vehicle is travelling at a very slow speed (i.e. slower than the vehicle would travel at idle in gear, keeping the vehicle in gear would allow you to utilize engine braking which would give you a mechanical advantage in braking situations. Generally the simple "stomp and steer" maxim for ABS works pretty well, truthfully, pretty much as long as you don't remove your foot from the brake (i.e. pump the brake) anything else you do will have significantly less impact.
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"Religion is the one area of our discourse in which it is considered noble to pretend to be certain about things no human being could possibly be certain about"
--Sam Harris
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