Brakes on my 96 were horrid. They had poor front/rear balance. Would flat spot left front all the time at Willow Springs. They faded badly when hot. You would get the warning from a soft pedal then they were gone on the next application. The factory brake pads produced lots of brake dust, and cleaning wheels was something that needed to be done after every outting.
There were work arounds with aftermarket brakes, pads, fluids and air deflectors, but stock they were pretty bad, especially when considering the tremendous output from the V-10.
Several times the brakes would not even be up to enthusiastic street driving. They were the weak spot on the car for me. Even down hill freeway off ramps could evoke braking issues.
The ABS made significant improvement on safety in my opinion. You could slam on your brakes in an emergency, and the computer would take care of all the details, while you could still steer around any obstacles. A nice improvement. If one wheel locked up, the others would still function.
The biggest improvement of all was when the Gen III was released. All of a sudden Vipers had world class braking capabilities. Very little fade, firm pedal, and enough weight transfer that the car would stop as well as it would go. This made for a much better performance balanced car, and safety took a huge leap forward. Even the hard riding and much maligned run flat tires worked great under aggressive braking.
All Generation Vipers share the same basic DNA, however some are more evolved than others.
Gen IV's were even better with improved ABS, and the tire technology took things up even another notch.
No experience really on the Gen V, however I believe braking performance is pretty much a non issue except under extreme track conditions.