The abs  and bake light are telling you the computer has seen a problem with the abs system ....could be a wheel sensor ect......the turning problem is proably related to the light coming on ......look under truck and see if anything is loose or just doesn`t look right .....did you run over something >?
Usually a turning problem isn`t related to abs but it your case it could be     what ever it is should be evident thou
                
 bg
                
 January 2006