Weird steering/skidding/sliding sensation while turning

[ridge522]

I've been having this strange recurring issue with my Lexus. I don't even know how to explain this to a mechanic.

 

I started noticing that when I would get on an on-ramp or exit ramp on a highway, going normal speed, the car seems like its skidding/slipping/drifting for a brief moment. It's long enough for me to get a pit in my stomach. It almost feels like i'm driving on black ice for a split second. 

Sometimes when this happens, the car starts making a chirping/beeping noise (VSC?).

 

I don't even know where to begin with this. Is it transmission, steering column, steering fluid? The tread on my tires is pretty good, so I don't think that's the issue.