Stuboski

So my '07 (automatic transmission) has started some strange behavior when I'm going in reverse. If I back up and I turn the wheel all the way (or mostly all the way) to the left (driver's side), the car comes to a stop. I have to give it some gas to get it going again. It almost seems like a brake is hanging up, or one of the front CV joints is binding up. It feels like the left/front wheel does not want to turn. If I'm going in reverse for more than, say, 75 feet (straight or turning), then I also get a big ABS/DSC/4X4 malfunction warning. I took my car to an empty parking lot yesterday, and I turned my wheel to the left and started going in reverse and I did a couple circles. It didn't totally stop on me this time, but it felt like pulsations through the steering wheel, and I almost got the sense that the steering wheel was starting to fight me. I also get the sensation through the brake pedal when going in reverse like the ABS system is activating. Could this all be linked to a wheel speed sensor or something? As a side note, I recently bled the brake system on this car (albeit it was doing this before I bled the brakes). I was getting a lot of bubbles out of the left/front brake caliper. I want to bleed that caliper some more the next time I put the car on the lift.