All of the codes you provided point to a problem with the brake actuator. Since the first code is related to a voltage issue, I would start by checking to see if there was any damage to wiring or connector has occurred. Check that first. I have attached picture to help you locate it and identify it.
Also, if the wiring is good, contact a dealer. There have been issues with different model Toyota vehicles and the brake actuator. I know they extended the warranty on Highlander vehicles, but I think that was only through 2008.
If the wiring is good, chances are the actuator has failed. And yes, that turned on all the lights. One last thought. Make sure there are no brake fluid leaks when you inspect the unit. There could be external or internal leaks you cannot see causing the low pressure and abnormal leak.
Regardless of what you find, I would contact a Toyota dealer and request assistance since the vehicle has such low mileage and there are know issues extending the warranty on older model year vehicle of the same type.
Let me know what you find. I am interested in knowing what you find and how it is handled.
Images (Click to enlarge)
Tuesday, November 27th, 2018 AT 6:13 PM