ABS fuse back in, and the issue occurs. ABS fuse back out, and it doesn't occur.
So, it seems that it could be the ABS triggering as I enter the driveway on an angle, possibly as I 'trail-brake' into it. I'm not 100% convinced yet (and I won't drive around without ABS), but the testing in my driveway (probably 20 runs out and back in) seems pretty solid.
Now, the question becomes "Why is it doing this?" It's done it occasionally for as long as I've had the car (~15 months), it just seems to be worse lately.