2013 Plug-In — ABS Pump/Brake Actuator Failure? Looking for Owner Experiences

I have a 2013 Prius Plug-In (~150k miles) and I’m looking to sanity-check what a local shop told me about an ongoing brake issue.

Symptoms I’ve experienced:

• Intermittent brake lights staying on
  
  
• Corrosion found on the connections on the brake light connected to pedal
  
  
• Multiple brake/ABS warning lights on the dash
  
  
• Stiff or inconsistent brake pedal feel
  

The shop believes these symptoms often point to a failing ABS pump / brake actuator assembly on aging Priuses and mentioned this is a fairly common failure. They warned it’s a safety-related repair, requires OEM Toyota parts, and typically runs in the $3k–$4k range. They suggested confirming with a full ABS diagnostic scan.

Before moving forward, I wanted to ask:

• Have others experienced similar symptoms that ended up being the ABS pump/actuator?
  
  
• Did your issue start intermittently before fully failing?
  
  
• Were there any alternative causes found (switch, wiring, booster, etc.)?
  
  
• If you replaced the ABS unit, did it fully resolve the issue long-term?
  

Appreciate any firsthand experiences or insight. Trying to make an informed decision before authorizing diagnostics or a major repair.