Take the car for a drive on some smooth corners where you can "coast" around them at about 10km/h above the recommended speed. Listen very carefully as the car enters the corner, you should hear your tyres gripping, but you might also hear another moderate-to-high pitched whining. This will most likely be more pronounced in one direction than the other and if you DO hear it, it means you have a faulty wheel bearing (front axle most likely) on the loaded side of the car in the turn (right hand turn loads the left side = left front wheel bearing). When the front axle wheel bearings start to disintegrate, chunks of bearing and grease and metal filings enter the ABS sensor teeth and produce erratic information to the ECU.