In that scenario, braking hard enough to engage ABS at all is the failure. It is not a failure on ABS's part unless you consider all ABS faulty. Some loss of yaw control is inevitable whenever ABS is engaged. ABS only gives better yaw control than completely locking the wheels.
> when the tires recover traction the whole car is angled 20 degrees to the left.
That’s not just some loss of yaw control. That’s an ABS system utterly failing to do it’s job. The point of an ABS system is to avoid the exact situation described.
Ex: https://m.youtube.com/watch?v=iz9_4qiSXkw
Especially if rather than stopping with a slight twist it’s twisting enough that hard breaking means you often lose control.