ABS, brake, 4lo, 4hi lights come on with malfunctions

I bought a 2020 Tundra SR5 with the sport package last week and I'm now having some issues. The vehicle had 32,000 mi on it and seemed to be well taken care of. The previous owner put in the TRD off-road sway bar on the rear and an aftermarket exhaust. Those are the only upgrades I am aware of at this time as the dealer did not give me any information on the vehicle and nothing else jumps out to me as being aftermarket. I picked up the vehicle from Colorado springs and I live in Albuquerque, so I drove up and drove it back just under 400 mi with no issue. Then I towed a buddy's vehicle about 250 mi on Wednesday, I was cruising at 65 mph and the ABS, break, 4lo, 4hi, rear cross trassic alert malfunction, cruise control malfunction, tow breaking malfunction, Blindspot malfunction, drive start control malfunction, and pre-collision system malfunction lit up my dash.
I immediately pulled over and the tow brakes were working just fine when I did so. I shut off the truck and checked the load and tried to figure out what was going on. After a few minutes I started it back up and all the lights went away. The vehicle then drove fine The rest of the way which was about 70 mi. Then I turned around and came home with no further issues.
I thought maybe it was a one-off instance until I went camping this weekend and the same thing happened numerous times. Whenever this happens the vehicle runs fine except I can't use cruise control and the malfunctioning systems clearly don't work. I'm good to go with maintenance and most repairs, but diagnosing is not my forte. I don't really know what this could be, I did read another post that it could be the ABS speed sensor but the original poster of that thread did not reply if that fixed the issue or not. Any advice would be appreciated before I head off to the dealership. Sorry for the lengthy post, didn't know what all would be important in the situation.

 

I’m actually seeing a lot of posts related to this. I have the exact same issue. When I was towing a little trailer I had this pop up suddenly. I ordered oem rear speed sensor if that would fix the problem. Just waiting for the part to arrive. Mines a 2018 and the problem happened around 84k miles. All those error messages happened the same with me as well. I used the car scanner I got from Amazon to clear the codes (all my sensors would again), but after driving a few miles I would get the same error message. I went to the dealer and they were going to charge me $2k in parts and another $1.5k in labor so I decided to buy the speed sensor separately to try and fix it myself. Not sure if it’s the speed sensor or some stripped wire underneath.

 

I went by AutoZone and used their scanner and it came up with the rear ABS speed sensor open loop. I ordered the part today as well and should be here Friday for me. I'll be sure to update once I get it installed this weekend. What else was the dealership wanting to do for $3.5k?

 

They wanted to replace all sorts of parts that I felt was unnecessary.

 

Update: I replace the rear ABS speed sensor and the harness, and that fix the issue. I've probably put 75 mi on the truck with no further issues. I did inspect the harness and found that a rock or something must have hit it and exposed one of the wires, but it was pretty hard to find so I'm not sure if that was the cause or not.

 

That’s good to hear. I can’t wait for my part to arrive.