The interesting thing you have mentioned is that the TCS light came on. To me, it sounds a bit like the TCS engaged the front right (or both right side) brakes for some reason which cause the car to keep going right.... perhaps the smell you smelled afterwards was the smell of burning brakes. Further to this theory - perhaps there is some mechanical issue with the ABS sensors on either of the front wheels which makes the car think its skidding at full steering lock. might be worth jacking it up and taking off one front wheel at a time and checking out the ABS sensors.
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