ABS problems on my 07 tacoma

So it seems like I am having problems with the ABS system in my tacoma. It seems to go off when I don't want it too. Like trying to slow down to make a turn it will turn on preventing me from slowing down and having to make a fast turn ,or when trying to brake while it is raining it will go off for a long time forcing me to press on the e-brake just to prevent myself from hitting another car. Does anyone know what could cause this? Maybe a sensor that it going bad that can be replaced? Fells like my truck is not safe to drive at times due to this as my nissan frontier doesn't act like this. I am planning to make an ABS disable switch soon but I want to see if I can fix this problem soon.

 

So typically what this is caused by is a sensor reading just slightly off, and most sensors show errors at slow speeds, so 3 will so 10mph, but one will show 9mph.

The only way to verify this is to drive around with a scan tool that can display wheel speed data.

One thing you can do if that isn't an option is remove each sensor at each wheel and inspect them for damage, corrosion, oil (in the rear axle). And lastly check the harness connection above the rear diff.

Modern vehicles have a code for this, but in the mid 00's there was no way for the ABS to determine if there is a slight error in the sensor reading.