[soundman98]

really stupid, but have you checked tire pressures? what about tire wear? in extreme cases, uneven tire wear between the front and rear can have a similar effect as well.

best case to check now, i would pull the abs fuse, and make a few runs checking for the same condition. if everything starts straightening out, your culprit is most likely something at the wheels-- bad speed sensor, incorrect alignment settings, etc.

edit: if your wheel is crooked now, definitely get the alignment checked out-- a crooked wheel will skew the cars readout-- if it think's it's perpetually turning, it expects a different wheel speed than if the car is actually going straight.