Customer complained right front brake caliber would intermittently grab the front rotor while driving...Scanned vehicle code read (5E38 abs-dsc rotation rate sensor)....Took maxysis and check all four abs wheel speed sensors signals,all were good, then checked abs-dsc pump,pump actuated,pulled front wheel and checked for sticking caliber piston at right front wheel. under pressurized test 25psi , checked steering angle sensor signal sweep,calibration was good at point -0-, next checked yaw rate signal , signal showed negative degrees of rotation at -0- steering calibration.Replaced the yaw rate sensor, coded sensor,steering angle and dsc module all together.