Toyota Sienna Traction control problem

[Pumbaa]

I have a 2007 Toyota Sienna FWD, 200k kms
This problem start few months ago, it first started with just right turn angle that would initiate the false traction control to turn on. Disabling doesnt help.
It would also make a ticking sound when doing right turn angle while accelerating. If I let go of accelerator, ticking will stop. Most of time TRAC control will kick in on highway, such as merging and off ramp.

YouTube

This link is basically whats happening. But the difference is my car TRAC usually turns on when cornering on stead speed. Not when cruising straight.

I would like to get it fix, but Open Road Toyota Mechanic took me on a test drove and said they don't know exactly what cause this problem. Tells me to ignore it, until the TRAC lights are always on. I need recommendation on reputable shops that can fix and diagnose the problem.
It is very annoying especially when doing long distance.

Any help will be appreciated.
Thank you !