NHTSA Complaint #11483918 — 2001 TOYOTA SEQUOIA

I was coming off the highway goi g down the off ramp at a rate of speed in line with the speed limit, and the vsc/abs/brake lights all came on. The truck started making a grinding noise and was difficult to control. I pulled over and checked underneath. Everything was fine and there was no sign of an issue. I turned the truck off and on, and all the lights cleared; however, the lights turn on again when the vehicle is cold. Once it warms up, and you turn the car on and off, the clear. No codes on the scanner. Forums say this happens regularly with this make, model and year, but no one is sure what it is. Everything from emissions, to the brake sensor to the yaw rate sensor.