2007 Prius Dash Warning Lights and Power Issue

I have a 2007 Prius Touring with 296,000 miles on it. I just replaced the battery a few weeks ago with a non-Prius battery. Power and operation were fine, but every time I turned the vehicle back on, I had to disconnect and reconnect the negative cable several times in order to get the dash lights to come on. I replaced it with the correct 12V battery (new from Autozone) two days ago. I still have to disconnect and reconnect the battery cables just in order to get the dash lights to come on and sometimes it will not start, as the light in power button to turn on the car is orange. It will take several attempts at this before the car will start. After just a few seconds, all the dash lights (red triangle, VSC, ABS, etc) come on. Read the codes at Autozone yesterday and the only error code was P0420, which I knew already. I'm pretty sure the cat is not causing this problem. It drives fine, but want to make sure it is safe and also want cruise control. I took it to the dealer a couple hours ago. They said to bring it back on Monday, but the guy told me it is definitely an ABS issue. I did have the rear brakes done a few weeks ago and just replaced the front pads myself last weekend. It doesn't make sense that it is related to the ABS. It also drives fine (except I have no cruise control. It seems like an electrical issue. Anyone else experience this? Thank you.

 

Thank you. I will take a look at it. Will that also cause the car to not start at certain times? Would it be worth getting one from the wrecking yard?