Steering jerks to one side?

The previous owners had this problem as well and couldn't figure it out, but when driving there will be a sudden jerk to one side. It kind of feels like you hit some black ice for a moment. Then it goes back to normal. Also, when you start to apply the brake it will do it as well. It's always in the same direction, to the right. We've replaced the brakes, there's new tires on it. And the ball joints and wheel bearings have been replaced. It does show the esc light, traction control and abs light on the dash.