Sorry to dig up an old thread, was this ever resolved? I have a territory SY Ghia turbo and under hard acceleration it does exactly what you are seeing. So it's either based on information collected.. ABS sensors at wheels. Sensors at wheels to be cleaned. Coil packs. What resolved your car? To complicate things more I'm running now the calibration of a F6x on the PCM and it pulls much harder but with limp mode more frequent than before. Abs..