Could be a bad ABS sensor, could be bad clockspring, or the turnbuckle on your drag link might have rotated, or be borderline to begin with.
Eliminate the easiest first, align your wheels perfectly straight and look at the steering wheel. If it is offset to either side, straighten it using a 15mm wrench by loosening the bolts on the drag link turnbuckle and turning it a little clockwise/counter clockwise to move the steering wheel to 12 o'clock (get a buddy/spouse/girlfriend to watch the steering wheel).
If that doesn't work (or isn't the problem), hit the dealership for a diagnoses, but do the work yourself. There's guides (and Youtube videos) for fixing both the ABS sensor
and clockspring issues.