Wondering if wheel bearing checked for play yet?
Keeping in mind: In OP case, Wheel bearings just service, and issue then started. So very likely has to do with that service.
Rambling on as I do..LOL.
Here's what I've seen, heard of or consider possible cause: Somewhat in order of most frequent.
1) loose wheel bearings. (not serviced regularly, preload not set, lock washer not locked, oil seal in backward, lack of grease in hub cavity causing massive damage)
2) Suspension issues, sloppy/bouncy (age related in need of service AHC globes, shock, T-bar adj. even rear coils, etc.)
3) Rack & pinion mounting bushing past useful life.
4) TRE ends (inner and/or outer) shot! Can be hard to make the call while attached to knuckle, unless very bad.
5) Ball joints, shot! Easy to test for.
6) Wheel speed sensor damaged, dead. bad connection (short) or not seated properly. (Typically get a code). I see many, where someone pried out the sensor, which should never be done. This well often crack the case to mount housing. I suppose it could then short during turns or give false signal if sensor moves from fixed position, or if not broken but just seated improperly.
7) Rack & pinion gears. excessive play!
8) Stabilizer system past useful life or damaged.
9) Wheel lug bolts loose.
9) Damage to wheel hub reluctor or metal particles on reluctor or wh spd sensor. (metal practicals most often come from, oil seal installed backward)
10) Zero point calibration. If all else check out. This may need resetting. ( I may have just seen one doing this) We could not find anything sloppy or loose or combo of
11) ABS computer. (Typically get a code) (I've not actually not seen, just heard of)
12) LCA or UCA. Loose bolts or worn out bushing.
13) Water intrusion short. Mostly from improperly installed windshield, which includes rust. Water running down "A' pillar into cabin get in junction, computers, wires housing, etc. We get al kinds of issues.
14) Rodent damage. (chewed wires causing a short)
Any combination of above. I actually had one had near all 14 issue. Anything that make system think, a wheel is spinning at different speed than others, will set off ABS/VSC. Very unsettling and dangerous, if not an actual event where system is working properly and needed!
When any one component of the front or rear (mostly frt), gets sloppy. Say like rack mounting bushing or ball joints. The extra force of the movement, is hard on all other components in area. The longer service is put off, the more other components take a beating and their useful life reduced. We end up with cascading effects, if not addressed early on.
A note on rack bushings. Poly bushing are nice as they last a very long time. But they do transfer more force/impact throughout the frontend. Which is felt in hand on steering wheel. Weak ball joint(s) will go fast as will TRE, with poly's. Rubber bushing (as OEM are) are meant to allow moment to cushion feel and impact to components. The aftermarket rubber bushing use by rebuilders, are softer than OEM. So they can contribute other sloppy components in front end, setting off ABS/VSC more easily.