2011 Toyota Tacoma Electronic Stability Control Esc Service Brakes Problems

THIS HAS HAPPENED SEVERAL TIMES, WHILE DRIVING BETWEEN 20 AND 40 MPH ON DRY PAVEMENT, SLIGHT CURVE, A BEEP IN DASH, SHAKING IN RIGHT FRONT WHEEL, AS IT PULLED INTO ONCOMING LANE TO THE LEFT, I HIT BRAKES "CLUNK" IT TOOK BOTH HANDS TO PULL BACK INTO MY LANE. POWER WAS LOWERED, FELT LIKE POWER STEERING WENT OR LOST A WHEEL. AFTER OUT OF CURVE EVERYTHING FINE. WOULD HAVE HIT SOMEONE HEAD ON IF A CAR HAD BEEN IN THE OTHER LANE. CALLED DEALERSHIP, THEY STATED IT WAS NORMAL. THIS HAS HAPPENED ON AND OFF ABOUT 10 OR 12 TIMES IN THE PAST 3 MONTHS. THE VEHICLE NOW HAS 41000 AND STILL HAVING THE SAME PROBLEM. *TR