2003 Toyota 4Runner v8 brake malfunction. VSC + ABS + TRAC CNTRL lights come on dash with loud beep

Aloha friends, was referred here by a friend upon high praise that you all could help me with my problem I’m hoping so bc I’m in a really tough spot rn and could really use some help :/

So, to start off was driving completely normally (no heavy braking or anything) and all of the sudden the abs, vsc, trac, and brake lights all come on along with a loud constant beeping. I pull over to make sure I have brake fluid, none of my lines are leaking or cut and they are all fine. Get back in the car and my pedal is really hard, brakes work but just barely and I have to push really really hard to get it to stop. I limp it home very carefully. Unfortunately none of the shops in my area have obd2 readers that do ABS codes, so I get onto chat gpt and it shows me how to “jumper” the obd2 to display the codes on the dash with blinking lights. Occording to me the codes for ABS=51, 52, 56
The codes for VSC=43, 44
I will see if I can attach a video so you guys can read them too. I’m waiting to hear back from a mobile mechanic who has a code reader that does ABS codes so that’s all I’m working with for now (I live in Hawaii so it’s hard to get availability for shops and mechanics)

I’m pretty mechanically inclined so I begin trying to figure things out on my own. Consulting with chat GPT had me do a couple of test for the ABS actuator and accumulater using the brake pedal and listening to the motor kick on which was hard to tell with the loud beeping but from what I could tell when I turn the key on it would kick on for a few seconds. Another thing to note is most of the time when I initially first start it the brake would feel normal for a second then go to being really hard again.

Next chat gpt had me check the brake stop light switch under the pedal and I changed that out to rule it out and the tail lights all come on and off perfectly. Chat GPT seems to think it could be a short or wiring issue that is tripping all these codes and not allowing the pump to work but I don’t know if I can trust that. I just don’t know exactly how to tell if the pump is bad or accumulator is bad. I’m posting here so I can hopefully get more information before I go and buy a whole new ABS pump assembly which is pricey. I believe I’m mechanically inclined enough to install it would just need a shop to do the final bleed bc I believe there’s a special tool or obd2 thing they use for final bleed.

any advice is appreciated, if you need more specifics or details I may not have mentioned pls just ask. I’m a young guy out here in Hawaii just trying to survive and trying to spend as little as possible to get this thing back road worthy. Mahalos