2004 Toyota RAV4 Steering Problems

WHEN I DRIVE MY AUTOMATIC AWD 2004 RAV4 (143,000 MILES, ONLY OWNER, MAINTAINED WELL THROUGHOUT THE LIFE OF THE VEHICLE) ON THE FREEWAY AROUND SLIGHT CURVES, THE TRACTION CONTROL LIGHT TURNS ON AND BEEPS LOUDLY. THE LAST TIME THIS HAPPENED MY ENGINE STALLED, JERKED, AND THE CAR AUTOMATICALLY SWERVED ME INTO THE NEXT LANE, ALMOST CAUSING A HORRIBLE ACCIDENT, I WAS NOT APPLYING THE BRAKE OR TURNING THE WHEEL. IT WAS LIKE THE CAR HAD A MIND OF ITS OWN. I TOOK THE CAR INTO THE TOYOTA DEALERSHIP FOR A DIAGNOSTIC ON THE CAR, BUT THEY COULD NOT GIVE ANY SOLID ANSWERS ON WHY MY CAR IS HAVING THIS PROBLEM, AND THAT THE TECH ALMOST CRASHED MY CAR DURING THE TEST DRIVE. AFTER PAYING $100, THEY SAID IT COULD POSSIBLY BE DUE TO BLOWN REAR STRUTS THAT ARE CAUSING THE BACK WHEELS TO BOUNCE AROUND FREEWAY CURVES WHICH MAKE THE SPEED SENSORS THINK ONE OF THE WHEELS IS SKIDDING AND ACTIVATES THE TRACTION CONTROL SYSTEM, BUT THEY WERE NOT COMPLETELY SURE. THEY SAID THE SENSORS WERE ALL GOOD. THEY WOULDN'T TELL ME ANYTHING ELSE UNLESS I STARTED OUT BY SPENDING OVER $2000 TO TRY FIXING RANDOM THINGS THEY RECOMMENDED. THEY TOLD ME IT IS TOO DANGEROUS TO DRIVE. BEFORE THE DIAGNOSTIC AT TOYOTA, I HAD ALREADY CLEANED ALL THE SENSORS AND SPEED RINGS, AND ALL THE SPEED RINGS ARE INTACT. THE CAR DOES NOT THROW ANY CODES OR CHECK ENGINE LIGHTS. THE TRACTION CONTROL LIGHT IS THE ONLY LIGHT THAT COMES ON WHEN THIS HAPPENS AND ONCE THE CAR GETS BACK TO NORMAL (IE PULLING OVER TO THE SIDE OF THE ROAD OR OFF THE FREEWAY), THE LIGHT AND ALARM TURN OFF. I HAVE TRIED DISCONNECTING AND RECONNECTING THE BATTERY. THIS IS SUPPOSED TO BE A SAFETY FEATURE ON THE CAR, YET IT IS MALFUNCTIONING AND MAKING MY CAR INCREDIBLY DANGEROUS TO DRIVE! ALSO, I LIVE IN ARIZONA...THERE WAS NO RAIN, SNOW, ICE OR MUD WHEN THIS HAPPENED WHILE DRIVING ON THE FREEWAY...THE SYSTEM ACTIVATES ON ITS OWN. PLEASE HELP! *TR

VEHICLE DECELERATE, IGNORES THROTTLE INPUT WITH ESP LIGHT FLASHING AND SOMETIMES A 'BEEPING' SOUND WITH VIOLENT SEQUENTIAL BRAKE APPLICATION BY ITSELF OF RIGHT FRONT WHEEL, WITH THE VIOLENT CONSEQUENCE THAT IT HAS ON STEERING WHEEL. MADE A 'RESET' OF STEERING WHEEL ANGLE SENSOR PROCEDURE BY TOYOTA STEPS. PROBLEM NOT SOLVED. BY MY EXPERIENCE AS AN AUTOMOTIVE TECHNICIAN I SUSPECTED OF AN ESP PROBLEM. I ALSO NOTICED THAT THERE WAS A SLIGHTLY INCREASED INPUT OF STEERING WHEEL NEEDED TO HAVE THE SAME EFFECT THAN BEFORE. BY VISUAL INSPECTION, WITH ANOTHER PERSON MOVING THE STEERING WHEEL, THERE WAS AN EXCESSIVE MOVEMENT (PLAY) OF STEERING 'RACK AND PINION' FROM ITS MOUNTING BUSHINGS TO THE BODY. Y PAY TO HAVE THOSE BUSHINGS REPLACED, AND PROBLEM SOLVED. IT IS A COMMON ISSUE. NOW 135,000 MILES AND STILL NO PROBLEMS. THE ESP, BECAUSE OF THE EXCESSIVE STEERING WHEEL ANGLE SENSOR READING (CAUSED BY THE ADDITIONAL INPUT REQUIRED BY RACK AND PINION DEFECTIVE MOUNTING BUSHINGS) BEHAVES LIKE VEHICLE IS GOING STRAIGHT, SLIDING, INSTEAD OF TAKING THE TURN, SO THE ESP TRY TO 'CORRECT' A CONDITION THAT IT'S NOT HAPPENING. PROBLEMS COULD ALSO HAPPENS TO VEHICLES GOING STRAIGHT (DECELERATING, ESP LIGHT FLASHING, BEEPING SOUND AND/OR VIOLENT BRAKE APPLIED TO ONE OF FRONTAL WHEELS). *TR