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Haven't seen abs light come on while starting for a while although just might not have noticed it.
Noticed problem other day when road had iced over a bit. Think i was turning then maybe braking but car started to slip and go bit awry. Put it down to slippery road but doesn't seem to steer like it use to either. Is it possible for power steering to have gone or for problems to be linked? Would I be best taking it to toyota dealer if I need to or would a normal garage do? Was thinking about the expense.  

ask for an brake inspection.. and a Written estimate....  

detail out some notes to talk to either your dealer service writer or your mechanic..

the ABS light should come on for a few seconds when you first turn the key on ..  this is the bulb check...

you can do a panic stop if you have enough clear dry straight road some place to do so..   see if your tires just sort of chirp, chirp, chirp.. when you really mash the brake pedal from about 45MPH..   the antilock light should flash again at this point...  showing it is activated..

not all scan tools will access ABS codes...  some will some won't..

nothing is cheep on cars.. but if your brakes are acting up.. the cost of replacing your sheet metal is going to be high..  along with what ever else you use for stopping. (the hard way)