Toyota Repair: VSC problem on 2004 Toyota 4Runner, toyota 4runner, engine cold

Question
I have a problem with my 4Runner locking up the brakes for no apparent reason and without warning. There's no rhyme or reason to when it occurs - it's been 30 degrees, 70 degrees, rain, no rain, up hill, down hill, engine warm, engine cold, any speed, etc. Anyhow what happens is the brakes slam on, sometimes at highway speeds. When this happens it tends to pull to one side - can't recall if it's always the same side but I think it pulls to the right. When this happens, it beeps rapidly - the same beeping you hear if the truck is on a hill and starts to roll back while in drive. This is normal from what I understand. When rolling back, the brakes come on a little so the truck doesn't roll backward too fast. The random braking seems to happen about once every week or two and has been happening for months. One thing to note is I was in a small accident that involved my passenger side front quarter panel and wheel. The alignment was out so much that my steering wheel was off by 90 degrees. I took the truck to the dealership after the body work was done and after the problem started but didn't tell them of the accident. They couldn't find any problems - no lights were stuck on and no trouble codes were logged. Any insight would be appreciated!

Answer
I find it very hard to believe that there are no trouble codes in the ABS/TRAC systems with all of that going on. I don't think I can be of any help unless you could have it checked again for any trouble codes in history or pending codes, by any chance does the VSC light ever blink while driving?