I could activate abs at xxx mph with my Civics stock brakes, the issue came with repeated hard stops. Uprated pads/discs/fluids will often improve things but it can get to a point where you simply need a bigger brake setup to cope with the heat.
There's a dual carriage way I drive on that is broken up with a series of roundabouts, my diesel Civic was fine for the first roundabout, second was still okay but by the third the brake fade was horrendous. I had two options, drive slower or fit bigger brakes... I went bigger brakes.
I’d argue that if you’re getting brake fade on a public road, you’re driving too fast.
Dual Carriageway is 70mph limit.