2004 LEXUS GX Electronic Stability Control Esc Problems

I OWN A 2004 LEXUS GX470. IN JUNE 2016, I WAS TURNING INTO A DRIVEWAY AND THE CAR VEHICLE STABILITY CONTROL SYSTEM KICKED IN AND CAUSED THE CAR TO JERK BACK AND FORTH, ALMOST CAUSING AN ACCIDENT. I WAS DRIVING AT A LOW SPEED AND IN IDEAL ROAD CONDITIONS, NO REASON FOR THE VSC TO KICK IN. THE VSC LIGHT CAME ON AND HAS SINCE REMAINED ON. SINCE THAT EVENT, THE VEHICLE STABILITY CONTROL SYSTEM HAS KICKED IN FOR NO REASON NUMEROUS TIMES. JUST A FEW EXAMPLES, IN JULY, WHILE I WAS TRAVELING 25 MPH ON AN EXIT RAMP, SUDDENLY THE VSC TOOK OVER AND IT CAUSED THE CAR TO SWERVE BACK AND FORTH, ALMOST CAUSING ME TO RUN OFF THE RAMP INTO AN EMBANKMENT AND WHILE GOING OVER A SPEED BUMP, IT KICKED IN AND ALMOST CAUSED ME TO SWERVE INTO ONCOMING TRAFFIC. IN EACH CASE, THE ROAD AND...