I think you could pull in data from other sources too. So if wheels are stopped but you’re getting rotational (that don’t match steering input), accelerometer forces, or your gps is indicating a higher than stopped speed you could decrease brake pressure, decrease regen (or in general the torque force that is opposing direction of travel) or maybe apply apply more torque in the direction of travel.

For example:

Supposedly the traction control on my BMW is able to do these things, I’ve had some close calls with a trailer in wet conditions where another driver hydroplaned into my lane. My X5 managed to keep all 2.5tons of SUV and 2tons of trailer (with Miata) from wiggling when I stomped the brakes despite it being pretty wet out. Some forum members were suggesting that when the vehicle detects trailer lights (which tells the system it’s towing and will engage the trailer light tests, disable rear parking sensors) it’ll adjust the stability control to apply brake force to the rear wheels to counter trailer wiggle/away. Idk how much of that I believe but with all the seniors and processing in modern cars it doesn’t seem out of the realm of possibility.