I was driving on a trail and my passenger wheel clipped a rock and messed up my steering wheel, aswell as when I turn the abs activates. I pulled one of the abs fuses and it fixed the problem so I was able to get home. Any idea what I need to fix I appreciate the help in advance

 

If your steering wheel is not centered, then the steering angle sensor is going to think you are in a slide a lot sooner than if it was. that might be coming into play as you start to make any turn. Can't tell what you mean by "clipped a rock and messed up my steering wheel" but that is how I interpret it.