ABS kicking in when turning right and braking at very low speeds (under 5mph)

[bledd]

On my wife's Yaris. For the past few weeks we've had this issue.

If you're turning right sharply and braking, you'll feel the ABS kicking in.
It's going way too slow for the wheel to actually be slipping (to cause a genuine reason for ABS to turn on)

Is this likely to be just a duff sensor, could it perhaps just need cleaning?

Braking at all other times feels perfect.

We only really find it kicking in when parking the car.

The ABS light isn't showing up during normal operation.

 

[bledd]

Car is a 2003 model.

Tyres are matched and evenly worn. I'll whip the wheels off, clean the sensors and inspect the teeth.

Thanks gents.

Forgot about my ODB2 reader, I'll run that on it too!