Thanks, here's what I think
Thanks for the video.
Observing the lights and that ' clunk' :
- One it could be something hitting a sensor/some unit which looks after things related to abs and the ESP.
- ESP/ABS and The TPMS go off. Since as far as I know TPMS works off rotational speed and ESP and ABS are linked it's definitely to do with the same thing.
The mechanical clunk may be pulling on something or hitting something such as the speed sensor.
Have a look at the video, it shows how all these 3 things are linked:
https://www.youtube.com/watch?v=_Lg1pAkdVn0
It might be as simple as getting it on a ramp at a local garage, full lock and have look, from underneath. Maybe remove the plastic covers in the wheel arch. Compare left full lock to right full lock.
Hopefully, should give you some more ideas of what's mechanical happening. Could be like in that video, that, maybe a cable is snagged or something is dislodged or something is loose.
The reason you don't notice at high speed is fairly obvious, hardly any amount of steering and the ABS probably works fine as the lights come up as you pass a mechanical turning circle.
Hope this helps, but yeah get it on a ramp and see if you can observe any of the above.
Good Luck, when you get back with more info, I'll be glad to look into it more and see what is the actual root cause. You may want to dig through the internet to get an assembly drawing of the whole wheel mounted/suspension set and see what things connect.
Manny