Well, they ended up saying that what I was experinecing was normal. At first they thought it could be a bad wheel speed sensor. But they said because of my tires (34.8" Toyo ATII ) that it made my truck more sensitive and it confused the computer and makes ABS come on if it thinks one wheel is spinning faster than the other. Not sure I believe that since there are PLENTY of people with relative set ups and dont have these problems. Guess if it keeps happening or getting worse I'll take it to another dealer.

 

Just for fun, try greasing your steering stops, I had a similar problem and it was the dry steering stops. My dealer didn't know how to fix it, they called me their " favorite new customer". I just figured that they should have set up my truck correctly in the first place! Should'nt take a customer to resolve the dealers issue!