The fact that the problem is intermittent is possibly going to make it difficult to track down, as Sod's law dictates that:
"Everything will work perfectly whist being tested, checked or watched, and the fault will only return when it isn't possible to find the problem."
Having shared those comforting thoughts with you.
As you say the problem comes and goes with steering the wheels, the first place I'd look is the front wheel sensors, their wiring and earthing.
From there I'd check the rears, then check the 10 amp fuse (#20 under dash), 60 amp fusible link (#2 under the bonnet) and wiring connections to the ABS, making sure they are secure and aren't corroded. Now the fact that the problem comes and goes means the fuse and fusible link won't be blown, but it is possible their terminals are corroded.
Also check the ground wire for the ECU and its connection.
I've just noticed your car is a TF not an F so those fuse numbers and locations will be different, I've not worked on a TF so I can't tell you which fuses they are, but I'm sure someone will be along to tell you, but the rest of the above should still apply.
"Keep calm, relax, focus on the problem & PULL THE BLOODY TRIGGER"