2011 Hyundai Sonata stability control problems

Tl* the contact owned a 2011 hyundai sonata. While driving 65 MPH, the vehicle independently jerked to the right and clipped a semi truck. The contact's vehicle was pulled under the semi and dragged for 100 yards. Prior to the failure, the ESC and TPMS indicators illuminated. The contact also noticed an abnormal burning odor. The air bags did not deploy. A police report was filed. The vehicle was towed to a salvage yard and deemed destroyed. The manufacturer was not notified of the failure. There were no injuries.

I have a turbo limited sonata. It has a severe left pull. If I am driving on a flat surface and let go of the steering wheel, I would be off the road to the left in about 5-6 seconds. If I am accelerating, I would be off the road within 1-2 seconds. It is a real problem. My dealership does not have the specs to fix the issue. I called the next closest dealer and they also do not have a fix. I am constantly assured that hyundai is working on the issue, but lets face it, it has been over six months.