I also get similar on some right-handers on my frequent routes in my Storm, where it's sharp/rough-surface/off-camber enough, at between 1/8th and 1/4 of a turn from central on the steering wheel. This is at speeds where I can get round them happily in my Crystal TDI, despite the Storm's wider wheels and lower, stiffer suspension. I can feel the Storm getting unsettled on turning in (feels like it's compensating with the rear brakes) and then it actually brakes the left-hand front wheel in short bursts. I get the ESP light on.
I don't think it's the ABS loom as I can take the same bends slower without incident. My suspicion is that the wheel bearing on the inside of the bend is getting pulled slightly apart by the G-forces, such that the ABS ring on the hub moves just out of range of the sensor. My Crystal one also did this on right-handers for a while, and eventually a few thousand miles later the right-hand bearing got noisy and was replaced.
So if it's happening on left-handers for the OP, my suspicion would be the left-hand (i.e. passenger side) front wheel bearing starting to go.