Steering Noise problems of the 2003 Toyota Sequoia

Vsc/trac off & abs failure requiring computer and yaw sensor replacement. I took my 2003 Sequoia to the local dealers service dept. In 2006 because the lights mentioned above were on. They could not find anything wrong. I told them the car was making a loud noise and the steering wheel was pulling to the side - very hard to control. They could not mimic the problem and told me there was nothing wrong. I argued with them, but lost that argument. Luckily for me the battery needed replacing in a few months, and when replaced problem went away. Now that my warranty has expired (last month) the vsc/trac off and abs lights are on again. I didn't rush it in because of my prior experience or I would have had it in while it was under warranty. Now they want $2200 to replace computer and yaw rate sensor. I see this is a very common problem and I am very unhappy with the service department and Toyota. I contacted Toyota and they refuse any responsibility although this is a very well know issue. It could be very dangerous under the right conditions. Luckily my driving is in a very small community and I don't drive very fast.