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Sounds like you have an ABS sensor that has gone bad and is throwing a code. That would cause your ABS not to work, make the car think it's slipping, and make your TCS go haywire. Take it to a Checker or Auto Zone and have the codes read. You should find that one of the sensors is bad, replace it and everything should return to normal.
I had a similar problem when my ABS sensor wire fell across my CV boot. After it war through the plastic lining and completed the circut my ABS would go nuts when just tapping the brakes. Fixed the wire, fixed the problem.
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WHAT LEAVE IT STOCK! Well that takes the fun out of it!
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