When making turns at speeds higher than 30 mph sometimes on the freeway or especially when driving up a hill, the slip indicator light, vsc light and alarm sounds and occasionally will automatically activate the abs braking system (even while you're still pressing on the accelerator) which causes you to lose control of the vehicle temporarily. the abs activation does not happen every time, but when it happens, it is very scary. there are many people online complaining of the same exact issue and toyota cannot find the problem. one person stated the problem went away once he replaced the entire rack.