Intermittent ESC active issue

I've had a steering issue for a while now. When going around curves at 60+, usually left ones, my ESC active comes on intermittently and the rack tries to adjust and it seems to under-steer me which makes it feel like it's fighting me off the road. Not too safe feeling given sometimes it's hard to recreate.

In the last year I've replaced; the rack, steering shaft, control arms, struts and springs, trans mounts and the stabilizer links.

I figured it was electrical and gave up and put it in a Napa shop. They swore it was the axles, even though I insisted it wasn't and they assured me it could be the problem. It wasn't. They gave it back three more times adjusting this or that saying it was gone each time and it wasn't. In all, they had my car over a month and charged me $700.00 for doing nothing to fix my problem.

I'm out of ideas and wondering if anyone has experienced similar or have any ideas or things I can test/check?

Wheel sensors? Power steering module? BCM?

A friend from a Chevrolet dealer hooked it to his tech 2 and said he saw this but didn't know why:

Requested torqe reading stuck at 99%
Delivered torqe stuck at 0%
Brake booster pressure stuck at 0%

Yes, my steering angle sensor has been reset. I also notice a revolving hum coming from my drivers side wheel, which I always figured was caused by the ESC issue by over using my brakes in necessary situations. Seems like I heard that wheel bearing noises are opposite of the side with the noise. Could this be indicating that my passenger wheel bearing is bad and possibly it's wheel sensor also?

I'm tired of throwing parts at it and Firestone nor Napa can find it. Any help would be much appreciated.