Sounds like aftermarket wiring, which I hate seeing.
I spent 3 days removing a mile of wiring, from just one LX alone. Some was Dealership or Depot install mile one, other toys added later. Only thing I saved from that job, was battery tender wired in. Which was clear indication the toys and...
I really can't see poly rack bushing, resulting in ABS, VSC or VGRS issue. Just the opposite actually, as they firm steering rack movement. Which results in less side to side movement. Note: OEM rack rubber bushing, are designed to allow for (a softer) side to side movement.
You can get ABS...
You could likely have more than one issue.
These things, should not be happening in a low mile, rust free rig, no accidents, with factory windshield and drains working (no water entry).
It, suggest accident, rodents, water leakage into junction boxes and or service mess ups. Also a big clue...