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The yaw rate sensor and stability control started on 2000 with 4 wheel independent braking. The truck senses the rate of turn mismatch with the steering angle and tries differential braking to keep you on the road. Unfortunately this will happen when the bushings wear out in the steering rack and the rack shifts during a turn at speed.I thought the computer steering sensors didn't come until the "2nd gen" 100, ie after '03??