Random ABS (I think) When Turning

Before I dig into it and start tearing everything down, I'm wondering if anyone else has had this problem....

2008 GP Base-
My ABS doesn't exactly pulsate, rather it just clicks and grinds. Of course, its done that since I bought it so I'm assuming that's normal.
The problem is that it does it under normal braking, in perfect conditions, if the wheel is turned at all. And I mean that quite literally.

Any ideas?

Hub assemblies. The wheel speed sensor is part of the hub assembly, and if the wheel speed sensor goes out, it will cause your ABS to kick in because it thinks that wheel is locked up. check the wiring to the hubs, and make sure the harnesses are all seated properly, and look for cracks in the wires. If the wires look good, I would start to blame the hubs...

Just had the same problem. Cleaned out the connectors and reconnected them. No problems since.

The wires are known for going bad. Part number 970-042 (right), 970-047 (left).

Check your axles for in/out play as well. You can do it by just jacking up a side and gripping the axle and pushing/pulling for movement. They should be solid