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Hello, my name is Bobby. Thank you for the question. Most of the time this is caused by a failure in the yaw sensor located under the center of the vehicle. It is a common failure on Toyota vehicles. If the steering wheel is slightly off from being straight then this will occur also. I would have the alignment checked and even have a shop reset the straight ahead position of the steering angle and yaw sensor as it may take care of it. I hope this helps. Let me know if you need more help.