Just an update in case someone has the same issue:
I replaced the Stability Control Cluster (YAW rate sensor) and Steering Wheel Position Sensor; symptoms did not change. I then dug into the wiring diagrams to see what was involved (not a whole lot). ABS Module, Stability Control Sensor, Steering Wheel Angle Sensor, and the PCM. After looking at the diagrams I decided to start checking connectors and inspecting wires. (Result) I found that the ground wire for the Stability Control Cluster (YAW Rate Sensor) was loose and causing the signal going to the ABS Module to be intermittent.
The ground is located under the paneling towards the top of the Right Tail light. Wires for the YAW Sensor are: Black/Green - Ground Yellow/Grey - Power (12v) Green/Orange - HS CAN2+ (data) Blue/White - HS CAN2- (data)