I have a 2005 highlander AWD. I'm experiencing vehicle stability problems on dry roads. The rear end will fishtail upon acceleration while driving at highway speeds. It also will fishtail to a lesser degree upon deceleration. Sometimes it will fishtail while traveling straight with no input change to the accelerator and no crosswinds. Two weeks ago I had the left front wheel speed sensor go bad and set off the VSC,ABS, and TPM lights. The VSC and ABS lights came on steady and remained on and the TPM light changed from being on steady to now flashing. The TPM light had been on for the last 1and1/2 years but the VSC and ABS lights didn't go on until the wheel speed sensor failed completely. Only upon researching about the VSC and ABS lights did I realize that the 05 highlander doesn't use tire pressure monitors in the tires themselves but uses the wheel speed sensors instead. My mechanic put in a new sensor/ wiring harness and cleared all the lights. He has checked the whole suspension system, struts, sway-bars, sway-bar links, bushings, tire pressures, and all appear to be in good shape. My mechanic replaced the front left wheel bearing about a month ago. The tires are Cooper Discover AT3's and were installed new last September and still have good tread, but have slight cupping that was noticed long before the swaying started. The fishtailing actually started before the VSC and ABS lights came on but got much worse after the lights came on. The fishtailing continues even after these repairs. The fishtailing always starts with the front pulling to the passenger's side while the back end of the vehicle pulls to the driver's side. The vehicle itself pulls- not the steering wheel. My mechanic and I are stumped as to what is causing this fishtail.