Alright guys.... Upon talks with some friends I decided to pull the abs fuse so that the car would go into the back up non abs braking system. And after months of this horrible pull I finally got to drive my supra and go straight when braking. So for now there is no problem, but I dont want to just drive around like this. I still need to fix it. The good thing now is I have finally pin pointed the problem. This is either going to be my actual abs, or indeed we have found out today that the rear speed sensor can cause this. I will first try and find a rear speed sensor that eliminates the code and see what happens. If not then, abs it is...... Next couple of days will be interesting once I get my abs back... ... I can move on to fun stuff now, like lowering springs on my car .....