Somehow knocked a sensor? Does it do it under light acceleration? Normally a wheel sensor slightly pulled out or the steering wheel LAT sensor out.
Sensors all look to be in place.
Depends on steering angle really although it did it in an almost straight line last night whilst changing from 3rd to 4th at about 50mph

Tread is evenly matched on both sides. I had 4 wheel alignment done at the time and everything was spot on. It had was virtually identical to the last alignment check 12 months ago
Going to check the pressures in a bit