If you've ever braked hard, you've used ABS. Its what let's you continue to steer under heavy braking. Previous generations were taught to pump the breaks for a similar (much less effective) effect.
The fact that you've used it and don't know it proves your point. That's an example of good safety implementation.
I have never needed to brake hard enough for ABS to kick in, or at least not intentionally - I don't count wellying on it hard to seat new brake pads, for instance, nor do I count traction control coming in (which uses ABS) under load on loose slippy surfaces.
It's easy to tell when it does - it makes the same BRRRRRP noise it does during the ECU's startup self test from the valve block in the engine bay.
The fact that you've used it and don't know it proves your point. That's an example of good safety implementation.