Car swerve, unable to control steering when cornering

Well, I would have gotten a second opinion. My opinion is first what was the ABS code to warrant the replacement of the ABS module? The light would have ben on, on the dashboard. So I believe there are worn steering parts in the front end, like tie rods or ball joints could have caused this.

Thank you for your view. I have asked the mechanic to also look into the tie rods, ball joints & steering part however they did not show any signs of damage/faulty, all are working well. The faulty code that appears on the diagnostic scan are as follows: Diagnostic scan Mercedes E200K AVANTGARDE MODEL w211 YEAR 2007 Fault error P201C-Self adaptation of mixture formation The mixture is too rich in the part load range (P017) P2061-Alternator serial interface, electrical fault, Alternator serial interface, electrical and mechanical fault P205C-fault is stored in component A7/3n/ (SBC control unit) Control module 193 (Central Gateway Control Unit) Accordingly, the mechanic explained that when the SBC/ ABS module faulty, it causes only one side of the brake to work when braking on cornering, hence causing the swerve/loss of control and risk of spinning. What say you?