I would start off by adjusting the tire PSI based on the weather conditions.
The Struts are fairly common to fail considering the mileage and year.
R there any codes present ? Did you have the Power steering recall performed ? How many miles on the tires ?
I would focus and check for any Bent rims alignment,proper wheel balanced checking that sufficient tread remains,that they are inflated to specification and that their circumferences are within 1/2"of one another and replace tires as needed and that alone will cause an ABS/ADV TRAC FAULT AND Will SET OFF A DTC.
If you can verify that chassis modifications and the tires aren't at fault monitor the steering angle PID'S in the PSCM and SCCM, the accelerometer PID'S in the ABS module (YAW, LAT, LONG, ROLL) and the WSS PID'S in the ABS module and note for any false readings when this concern occurs. Note it is normal for the steering angle PID'S to not read 0° with the steering wheel straight ahead due to the way that this position is recalculated on each key cycle. Also note that the accelerometer PID'S will need to be monitored at a standstill immediately after this concern occurs and they should read close to or at 0 with minimal fluctuation (note for difference in reading when this concern is not occurring vs. is occurring). If a faulted steering angle input is found, and depending on where the false input is originating, replace the affected component as needed (EPAS steering gear or SCCM w/ steering angle sensor). If a false accelerometer input is found suspect the RCM is at fault. If a false WSS input is found suspect a WSS/tone ring/wheel bearing issue and repair accordingly. Z
