2012 PriusV slow speed turning intermittent stability/traction control

Hello,
I am tom. have a 2012 Prius V 5 door and need help with an issue of Stabilty control/ traction control.
The PROBLEM: When driving at slow speed 5-20 mph and turning right or left, on good dry roads, the stability control intermittently and briefly applies the brake to a front or rear wheel and may cut power to all the wheels. Traction control error light illuminates briefly, but no error light stays on. The problem occurs when accelerating or decelerating and at constant speed but is more severe if harder accel/ or deceleration. Have replaced all four of wheel speed sensors and hubs with magnetic ring. Replaced the steering angle sensor, and the yaw sensor. Recalibrated the Yaw sensor and steering angle sensor with code checker that I have. Have run out of ideas of where to look to fix this problem. Wiring issues?, ESC module, traction control module? This vehicle has a very inconvenient method to disable the traction control involving depressing the gas pedal 6 times in a defined sequence.
Any ideas or experience with this particular issue? Thank you

 

CV joints are good. This 2012 PriusV has 54,000 miles

 

Wiring faults can be hard to find. But i'll look things over to see what i can find. Thanks for the reply