09 Tacoma

Had the anti lock come on driving down the free way at 70 mph. Could have been the anti skid control, cause I heard the audible fast beeps when it happened. Could this be a bad bearing or sensor?

 

It could be, yes.

Did the brakes actually apply themself?
Or was it just a light?

Also, is your truck lifted, and does it have VSC?

 

They did apply yes. You could here the abs motor, feel the truck twitch (pull left) and the audible fast beeps. The audible beep I'm referring to I'm assuming is anti-skid control. Only think this from last winter when my son and I were doing donuts at the park. Don't know if that's the correct terminology for that braking system. But definitely wasn't just abs.
Truck is not lifted.

 

If you have VSC, you might try to recalibrate it. I believe most 09’ were equipped with it from the factory.

https://www.tacomaworld.com/threads...ibrate-your-vsc-computer-the-easy-way.467485/