Steering angle sensor issue or wheel speed sensor issue?

More than likely this is a wheel speed sensor issue. It could be a steering angle sensor but those are more rare when they fail.

The way to test this is with a scan tool and monitoring each of the wheels as you drive forward and then turning. You should see them change as the outer wheels will be traveling faster than the inner wheels. If they are off then the ABS will think the vehicle is in a skid and apply the ABS. If they seem to be operating correctly then we need to monitor the steering angle sensor.

When you are driving straight the angle sensor should be around 0 degrees. Then as you turn the sensor should increase and degrease in steady increments. If it jumps or is off then the ABS will activate as well because it is not corresponding with what it expects based on wheel speeds.

Here are a couple guides that will help with testing the wheel speed sensors:

https://www.2carpros.com/articles/abs-wheel-speed-sensor-test

https://www.2carpros.com/articles/how-to-replace-an-abs-wheel-speed-sensor

Below is the process from the manual on the wheel speed sensors and the steering angle sensor. If you don't have a scan tool, I would check each speed sensor using the guide above and if they all check out, replace the steering angle sensor.

Please let us know if you have other questions.

Thanks