2001 Toyota Sequoia brakes problems

After driving my 2001 toyota sequoia sr5 4x4, 70 MPH for 45 miles, the vehicle made an abrupt right hand turn on its own. The stability control system locked the front right wheel and caused the vehicle to turn right. Later that week my mechanic replaced the yaw sensor. Since then, the truck has behaved as expected. I just heard a friend also had a 2001 4x4 toyota tacoma and the same thing happened, although his vehicle rolled 5 times and there were several injuries. He had about 135000 mile on his vehicle.

Tracking control and emergency brake lights stay on all the time. Have had the problem fixed twice, but within a week or 2, the lights come back on and stay on incessantly. Toyota service center says "there is nothing they can do about it", so I have lived with it for 4+ years now. The brakes shake the entire vehicle when applied, they feel warped or bumpy. Again, "there is nothing they can do about it".