i was towing a trailer coming into slc on 80 west. going downhill my abs engages almost making me crash into the vehicle next to me. did it again about 20 seconds later. the entire weeked goes by and nothing. heading home it decided to do it again once but i was on level ground. it didnt trigger any other warnings on the dash, however i know my steering angle sensor needs replacing. i get a hill descent warning and no offroad mode every time i start my truck, but to have abs engage while driving? anyone have this issue before?