Vsa Warning Light On problems of the 2005 Toyota RAV4

I've been having an intermittent issue with my 2005 rav 4. When exiting a highway on a sweeping right curve exit ramp, the vehicle stability control light will start to flash and an audible beep can be heard in the cabin. This usually indicates the car is in a skid but I assure you I am in full control of the vehicle, in its lane. After 2 to 3 seconds of constant beeping the engine cuts power and applies braking to an individual wheel, causing the vehicle to lurch slightly to one side. Just as quickly as this happens, the car resumes normal operation and the issue ceases to exist. I have had several instances of this very issue in the past 2 months. Most happen at slow speeds (under 35mph) and on dry pavement. The vehicle suspension and alignment are within operating specification. I have noticed however, that the steering rack bushings are worn. This causes the entire rack to move about slightly within the constraints of its mount. To my dismay, Toyota does not sell replacement bushings for the steering rack on 2004-2005 model rav-4's, forcing owners to pay for a completely new steering rack. This is unacceptable from a brand that prides itself on reliability and reasonably priced maintenance. The safety of the vehicle is compromised by an substandard engineered components. Steering bushings; causing too much play and allowing the vehicle traction control system to inadvertently activate, causing a dangerous unsettling of the vehicle.