there are two things that come to mind, one is the AdvanceTrac® Stability Enhancement System, this system comes into use when you are driving in that mode on the freeway like you described and when it goes into this mode it turns on a warning light on the instrument cluster and sets off a tone, the light looks like a car with skid marks under it
the other thing is the brake
fluid level , when making this turn the fluid may go to all one side of the reservoir and set off the low brake fluid level warning for a second . .
so make sure your brake fluid is up to the full line and if this is ok then you can go to any auto parts store and have them check your ABS system for any codes , for free, , if there is none , then your car may just be going into the stability mode on this maneuver and its normal.
another thing to check is to make sure all the tires have the proper air in them and that all the tires are the same tire size , a difference in air pressure or different tire sizes can also cause this problem,
we can go back and forth on this page