My skid light goes now every now an then,it lights an beeps then car pulls to the right like brakes are slammed on

What is your question?

It happens with no rhyme or reason usually when I'm going around a long turn but sometimes when I'm going straight it's been happing since the car sat for two years

What makes this problem better or worse?

Has a mind of it's own

How long has your 2004 Toyota RAV4 had this problem?

Since last year