So i have a similar issue, some sort of...
Changed out my steeringrack bushings, all good, drove much better again, only steering wheel was little off center so the day after i went out for alignment,
That was a 5 minute job, (turned steering wheel to the center, i double checked if it was, tightend it to the chair with a spring, did alignment thats it)
I checked if steering wheel was really straight out on the freeway, get off and get on the freeway returning home bam SKID symbol accurs when going about 30 mile thru corner while getting on the freeway again.
While that skid controle came up, loud vsc / abs unit and totally interfering wit braking when totally unnecessary, no sharp corner at al and dry road surface.
Read all about vsc off/ vsc trac lights on display all the time, that is clearly not the issue here...
Sounds like steering angle is off, car thinks car is going more straight ahead compared to the steering angle... OK, calibrate.. paperclip... dont help.... did the checking list of the sensors.. paperclip method, steering all left all right braking and all that, seems all good... problem remains.
Installed Techstream,,, live Data.. all good, exept 'Zero yaw rate sensor' stays on value 1 all the time, while the values of the 'Yaw rate sensor (left under) changes value sames as all abs, deceleration, and steering angle...
Does it mean it is broken?
I read problems with new calibration not being accepted by ECU, so if i go back to the alignment store,, and asked them to get it all back to Original, so steering wheel is off again, problem should be gone?
I tried searching for an ECU update but you have to have certain rights to get the download from Toyota Tis website, went to 2 Dealerships in my area,,, 'we cant help you'... called a 3rd dealership... 'we never heard of anyting like that before'... pfff.. so i emailed Toyota USA, they say they just wont help me because the car has never been delivered in my country..
Most Horrible Service I've Ever Experienced!!!
PS.
When driving with the laptop hooked up, i go true corners over 30 miles but vsc and abs are turned off when hooked on, so i'm unable to get the skid interfering and unable to look at the life data what might be going on
So when hooked up all seems good.