I would say that Masshoe04 and rockola1971 are on the right track.
I had the same, it began with ABS in narrow turns, then my traction control was activated sometimes. And soon I had cracking noises from my wheels.
There were no error codes stored, because the ABS think that this is a normal job. Error codes a only stored if a sensor, for example is not available or the self-test of the control unit fails.
The sensors are included in the wheel bearing hubs and they die around 200,000 miles.
When the problem started with my ABS activating from time to time, I had the car on a lift and wobbled the tire. I didn't feel any play. Later when the cracking noise came, I had clear play.
After i change the wheel bearing hubs, the problem with the traction control and the ABS was gone.
When you order them you have be aware that there is a version for 4WD and a version for rear wheel drive vehicles.