What was your cruising speed ? Means the steering kinds of weights when you go on high speeds.
Check tire pressure when it is cold, that way you could be more accurate.
While on the trip at night , was there chances that you were water wading ?
Or yes it can even be the EBD , since the tire's has done 53K , the tires won't be as efficient as it , so!
Since there is no warnings and everything is still fine, JUST CHILL!
Well with the 205/50-15 tires, Comfort will be reduced drastically.