2003 Slip Indicator Light

[SLWitek]

2003 4Runner SR5
I was having a leaky steering rack replaced with a reman. Afterward it went into limp mode after about 1/2 mile. Had it towed to alignment place. Got it back and went into limp mode again. I unhooked battery and that seemed to fix most of issues. Now every so often while driving on normal roads, the slip indicator light will come on and the alarm goes off and it gets all swervy. Seems very dangerous. This lasts 5 seconds or so and then corrects. No other lights come other than the slip indicator lights. Thought about zero calibration, but that seems to be for when other indicator light are on and stay on. This comes and goes. It is my daughters vehicle so I am wanting to fix ASAP if I can. This happen to anyone else? If so, what was the fix?
TIA

 

[alia176]

2003 4Runner SR5
I was having a leaky steering rack replaced with a reman. Afterward it went into limp mode after about 1/2 mile. Had it towed to alignment place. Got it back and went into limp mode again. I unhooked battery and that seemed to fix most of issues. Now every so often while driving on normal roads, the slip indicator light will come on and the alarm goes off and it gets all swervy. Seems very dangerous. This lasts 5 seconds or so and then corrects. No other lights come other than the slip indicator lights. Thought about zero calibration, but that seems to be for when other indicator light are on and stay on. This comes and goes. It is my daughters vehicle so I am wanting to fix ASAP if I can. This happen to anyone else? If so, what was the fix?
TIA

I don't think it'd hurt for you to do the zero calibration, just to rule it out. Your car thinks the wheels are "slipping", meaning all ABS sensors aren't reporting the same numbers to the ECU. Could one of the ABS sensor be picking up false signals by having tiny shards of metallic bits attached to the sensor tip where the magnets are located?