Steering rack bushings?
Of the two smaller ones on the drivers side one of mine was pretty much gone. I got the wife to steering it with me under the front while tires were firm on the ground. Was shocked to see the rack shifting over almost an inch when transitioning from right to left. The rack was slipping back and forth though the large bushing. And almost twisting in a way on the driver side.
The larger one was fine.
Mine seemed to degrade due to a fluid slowly dripping into/on it.
I returned the rubber set and am waiting on some poly Whiteline replacements from
Amazon.
I just didn't want to try the smaller rubber ones and felt led to just put poly in.
I got the exact same symptoms though about three times on a two hour trip. First two times just a beeping and the slip indicator light flashing. All at freeway speeds and the third time cruise was on at about 65ish I think and into a sweeping left curve.
Third time was ABS trying to "save" me and me really getting worried and trying to slow and get to the side of the road.
It tried to modulate the right front wheel then the left rear. Good Lord it happened so quick it scared the crap out of me.
Odd thing is it's got to be in the steering, because you would think an ABS issue would throw a code with a component failure and keep it on until cleared right?
I'll report back as soon as I get them installed and get to drive it again.
PS: I have 436K though. YMMV, Lol...