Impending ABS Problems?

Hello! I have a 2008 Prius with about 134,000 miles on it. I have had it for a few months now. It has basically always made the chirping/barking noise when applying the brakes and through research I know it is the sound of the abs actuator. The sound is quiet when lightly applying the brakes and gets louder when I increase pressure. The sound is not constant and sometimes I don’t hear it at all. When I first got the car, I took it to a hybrid shop for a separate brake issue and they said everything was fine and had no codes for the actuator even though the brake/abs/vsc lights were on due to that separate issue. When I was going through the service records, I see that the actuator was replaced under warranty in 2017 by Toyota when they were doing them for free. Just being the nervous car owner I am, is the noise a sign that the part could be going bad again? Is there anyone who has had to replace the part multiple times? Thanks in advance!

 

The only problem is, the work was done at a dealership in Florida where the previous owner lived. I’m in Georgia