2010 Toyota 4runner Electronic Stability Control Esc Problems

THE VEHICLE STABILITY CONTROL IS MUCH TOO SENSITIVE. AS A TURN IS TAKEN AT SPEED THE VEHICLE ELECTRONICS TAKE OVER AND CHANGE THE TRAJECTORY. FOR EXAMPLE, IF TURNING ON A CURVE TO THE RIGHT, IF IT SENSES A TIRE ROTATION DISCREPANCY IT STEERS THE VEHICLE INTO ONCOMING TRAFFIC. THIS IS REPRODUCIBLE DEMONSTRATING THAT THIS IS THE WAY THAT IT IS DESIGNED AND NOT AN UNUSUAL OCCURRENCE. CHANGING TIRES HELPS SOMEWHAT BUT DOES NOT MITIGATE IT ENTIRELY. I HAVE BROUGHT THE VEHICLE IN MANY TIMES TO TOYOTA UNDER WARRANTY AND NOTHING IS FOUND AND NOTHING IS DONE TO IMPROVE IT. ONLINE HELP DIRECTLY WITH TOYOTA LIKEWISE HAS NOT LEAD TO ANY IMPROVEMENT. THIS IS A SAFETY ISSUE FOR MANY REASONS INCLUDING DIRECTING THE VEHICLE INTO TRAFFIC AND IT IS VERY DISCONCERTING TO SUDDENLY HAVE THE VEHICLE TAKE CONTROL OF THE STEERING WHEN NEGOTIATING A TURN, PARTICULARLY ON NARROW ROADS OR SHARP TURNS. I EVEN HAD TOYOTA SERVICE ADVISOR IN THE VEHICLE WHEN IT HAPPENED. THIS IS AN ONGOING ISSUE.