After reading sgould's post on the TurboX tracking
http://www.saabtechtalk.com/forum/index.php/topic,309.0.html I'm wondering if this also applies to the 9-5 with ESP?
When I had four new tyres fitted to the estate, they minimised the rear toe to reduce wear on the inner edge. (Not happy about throwing away Vredesteins with 5mm of tread!) Since then it has occasionally felt like it was braking a wheel when moving off with plenty of lock.
Of course, this may be something on the ABS ring, but I've not noticed it any other time, such as when slowing to a stop.