Brake Antilock Wheel Speed Sensor problems of the 2013 Toyota Sienna

When traveling around 30 to 35 mph (well under speed limit) on dry clear roads, on left turns (often slightly downhill) suddenly the vsc and slip/trac lights up, the abs system is activated / brakes engage. Foot is not on the brake and speeds are not excessive. I am not using run-flat tires, but that doesn't seem to make a difference for others online. I see dozens of similar complaints online about this same thing from 2001 to 2015 Siennas. Two say that replacing rack & pinion fixed it; 1 says it does not. This started happening about 3 months ago, but is now happening more often. Approx 156k miles. Other fixes that have not worked: replace front speed sensors, changed all pads and rotors, and replacing the steering angle sensor. None of those worked. On person says, "most common prob seems to be the rack bushing where the rack is mounted. They wear out and cause the rack to move when turning. . . Bushings are hard to replace so just replace the rack and it will solve the problem if it is loose. ( although its a bit expensive) the yaw sensor or steering sensor has also been the culprit in some cases. " another says, "steering linkages could be another culprit - control arm bushings were severely worn and could potentially be another source. Alignment and zero-point calibration sometimes help, but not for long. " I don't feel safe driving myself or my children in this car, but can't afford another. And can't afford a $1k fix - especially if others have this issue. What can I do?.