Dunno if relevant, but last August I was receiving random warnings under similar conditions you mention (2022 SE). I don't see a mention of the wheel speed sensor.
I was getting random stability or ABS warnings on bumps or hard acceleration/deceleration, more sensitive turning right or in reverse. The dealer instrumented the Mini, and found the passenger side front speed sensor signal was going out of spec now and then. They replaced the degraded sensor/pigtail and I have not had a reoccurrence.
I think it was damaged when debris kicked up on a sharp off camber right turn at a bumpy construction site.
With all the labor, that ended up being a $700 US repair.
This turned out to be a bad driver side front wheel sensor. The dealer tech spent some time trouble shooting as it was intermittent and passed tests most of the time. Did I say that tracking down an intermittent fault is not one of my favorite things..
~US $700, $500 labor $200 part.