The wheel bearing may be going out, and i know this in advance. But the traction control system thinks the car is in need of it's "Auto ABS" feature when we are driving on the freeway. For example when driving around a sharp corner to enter the freeway, the car decelerates, the ABS turns on, and the steering wheel points straight ahead. kinda frieked me out... The wheel bearing issue i am going to assume is related. there is a noise coming from back there somewhere.