When turning right and only at random times it will set the dash alarm and the traction control light will come on for a while and then go out.

They claim that the LH ABS brake will start to come on at the same time.

Have had the vehicle for half a year and have replaced the yaw senor and the L/H wheel speed sensor.

The reason for changing the yaw sensor was because the sensor could not be reset and when the new sensor was fitted the reset worked and there were different values on the scan tool then that of the old sensor. Also, with LH speed sensor had differing ohms readings to all the other wheel speed sensors so it seemed necessary to also change this.