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Good suggestion by HondaMoney01. Always best to try simple, cheap solutions first.

the dealer ... said it sounds like the ABS pump is going bad or reservoir is low on fluid causing them to activate for a few seconds and that is what causes the vibration sound. He said some models have a reservoir for the brakes and separate one for ABS.
So ... is your brake reservoir full? I don't think the Element has a separate reservoir for the ABS, but I'm away from my service manual. Your dealer, OTOH, should know, not guess, the answer to this.

Does the rumbling persist long enough for you to do a test? If so, pop it into neutral (if you can do it safely) while it's rumbling. Any change? Does accelerating or decelerating affect it? What about tapping the brake?
 
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