'13 Hard Brake Pedal c1252, c1256, c1365

Power braking spontaneously failed while idling in my driveway. I knew about accumulator and actuator issues when i bought the car, so i have been paying attention to how often and how long they come on. They operated normally for the entire time I've owned the car until now. They never came on too often or stayed on too long. No leaking brake fluid and reservoir is full. I tried the OBD port paperclip trick, it did not work, though one time it stopped the beeping for about a minute. I visually inspected all the ABS fuses in the fuse box and they're not blown. car says in ready mode the battery has 14.7-14.8v. car still moves and stops but the pedal is very heavy.

Symptoms:
ABS, ((!)), BRAKE, TCS lights on. Tire pressure sensor light is on too, but that has been on a long time.
incessant beeping
no noise from the accumulator when opening the door or pressing the brake pedal
hard brake pedal
codes c1252, c1256, c1365

Lately, I have been idling the car for long periods of time with the heat, heated seats, stereo, and a dashcam running. Not sure if it matters. The failure occurred at idle.

I feel like I have an electrical issue. Not sure where to go from here. Would it be a good idea to try disconnecting the 12v battery to reset the ECU? What would you smart fellows recommend I do next? I really don't want to tow it to a shop.