2004 Prius random C1247 sub 179

My 2004 Prius randomly throws this code and the brakes go into a failsafe mode. If I clear the code, it goes away for anywhere from a few days to a few weeks (Lately it's been a day or two) Here's the weird part, on my way home there's a stop sign where I turn right and then go over some train tracks, and about 3/4 of the time it sets this code after I've done a "Rolling stop" and then go over the train tracks. Any ideas? I've also had it trip the code if I go over a bump after making a low speed right hand turn.

Search digging says there was an issue with the skid control ECU and I should find the updated part on eBay (New one is $1800 from Toyota), I'd think if the problem was actually the stroke sensor that the code would come back pretty much immediately, which it does not. (Although it's gotten progressively worse, it first happened after several months of having the car, and lately I can't even make it the 55 miles to work before it comes back. I've attached logs from Techstream, a couple of them are just the freeze frame but there's two that have data recorder logs as well as the freeze frame. I'm kind of thinking that the problem is the stroke sensor, but I want to confirm before I drop the $ on it...)

When I bought the car, whenever the hydraulic brakes activated it would make this "thump thump thump" from the right rear brake, pulled the drum and it was worn in one spot but shiny in another, like it had been machined wrong or warped, so I replaced both rear drums and THAT problem went away. But I noticed that the rear brakes (which appeared new) will go out of adjustment (Parking brake quits working) on the right side. I did notice though, that if I adjust the rear brakes properly, that the code doesn't happen anymore, until the brakes get out of adjustment again, and I've also noticed that if I brake somewhat hard, that the pedal will drop farther than it does if I brake lightly, so I'm thinking that the misadjusted brakes are confusing the ECU and throwing the stroke sensor code... But despite being a certified Toyota tech (haven't worked for Toyota since 2011 though) I didn't do a lot of the hybrid training so I'm not super familiar with the Prius's braking system. (Also for some reason, even though I have replaced the shoes, hardware, drums, and self-adjusters, the passenger side rear brake manages to adjust itself all the way in over time and then the parking brake no longer works)

 

Bump.... Am I just asking in the wrong forum or something???

 

I ended up biting the bullet and replaced the sensor, and all is well now. Still have the issue with the drum brakes going out of adjustment... The thing that throws me with them is I've replaced EVERYTHING.. The shoes were worn so I replaced them, along with the drums and all the springs and adjusters and associated hardware and it still does it...