'03 Impala LS ABS/TCS Issues 3.8L

I have a 2003 Chevy Impala LS, with a 3.8L engine. I bought the car about six months ago and it is the first car I have ever owned with ABS/TCS. When I first bought it, the TCS would engage when I would turn corners sometimes, and I am assumed that would be considered normal operation. Lately however, the TCS has engaged more often than it should. There are several times when I can feel it engage, and the TCS light on the dashboard comes on. There are other times when I can feel the ABS kick in randomly. Now almost every time I drive after about 15 minutes the service traction system message pops up on the dashboard. If I turn the car off and turn it back on the message is gone, but it will turn back on the next time I drive it. To mitigate this, I tried turning off the TCS by pressing the TCS on/off switch, but I still feel the ABS kick in and it still sometimes gives me the service traction system message.

For this I would normally take it to a dealer but I am military stationed overseas. I have limited experience with fixing cars so I have no idea where to start to troubleshoot myself. Any ideas?

The only sure way to track this down is with an abs function scanner that can look at codes and sensor inputs.

Hmm... Just looked it up and those things are expensive. Hopefully our hobby shop has one. Thanks, I'll let you all know how progress goes.