Clicking or ticking noise in steering towards the right on a slight curve

What is your question?

When I am driving in normal conditions I hear a ticking or slight tapping noise while driving into or out of a right sided curve in the road then it seems as if my Toyota Sienna doesn't want to excel rate or decelerate if the steering is still in a slightly right curve...this happens only if its a curve between 30-40mph on dry normal street conditions. This has happened several times in the past 6 months then about 2 months ago (only 3 times so far) My VSC & Trac lights on my dash started beeping & flashing at me while driving on the curve at 35mph (dry conditions) then once I was straight again it stopped beeping & the lights went out. I had very worn front tires & had them replaced 3 days ago & drove on the freeway at 60-70mph no clicking or tapping noise on curves & no lights on yet but tonight it's raining and it seems like as soon as I got on the freeway on curves it started to decelerate I couldn't hear the noise due to the freeway noise but I'm worried about driving any further should I get towed home 63miles or take back roads home 63 miles? The Trac & VSC lights are not coming on when the deceleration occurs tonight but I am scared by what I have been reading in Toyota chat rooms of other drivers