my 2008 sienna (120,000M) had traction control kick in while on a curve. Sometimes the ABS would kick in, making the tick-tick sound that some posts have confused with CV joint problems. As the traction control problem got worse, power would also be removed from the engine. As with other folks, trips to the dealer and small shops resulted in diagnosis of CV joints, ball joints, steering column, rack, tie-rods, steering wheel angle sensor. of course, the shops all said different parts were the true problem. I investigated myself and could find no problems except for play in the rack mount bushings. ball joints, inner & outer tie-rods moved smoothly (no tears in the boots either). since Toyota does not sell the rack mount bushings separately, I purchased a new OEM rack ($515). I replaced the rack myself, it took about 4 hours and was not difficult. I did not have to lower the sub-frame or remove other stuff as shown in the youtube videos. Since I was changing the rack and inner tierods, I decided to also replace the outer tie-rod ends to avoid future work as well.
Problem solved. I also noticed that the steering became tighter (like it was when new).
This problem can be a money pit because a whole bunch of parts work together to keep the steering true and detect a traction problem. Additionally, clicking from the antilock brake can be mistaken for C/V problems, loss of engine power, and unexpected braking may result in wrong diagnosis by inexperienced/dishonest mechanics. Yaw, steering, and wheel speed sensors are also often blamed, but are less likely to be the problem (unless reported bad by diagnostics).
hope this helps!