ABS Actuator or 12V Battery?

Need help diagnosing my 2008 Gen2 Prius Std.

Is it the 12V battery or ABS Actuator?

Had my rear driver tire changed.
Drove from the tire shop to work which is about 5 miles. When I turned the car on to leave work, all the brake warning lights came on (see pic).

Jumped the #4 and #13 pins to reset.
Warning lights clear but eventually return in a day or two.

Pulled the rear wheels off at home and nothing visually wrong with ABS sensors or wiring.

Brake feel “hard” prior to putting the car in Ready but function normally in Ready and when driving.

Blink Codes:
((!)) 57 69
ABS 42
VSC 45

12V battery replaced in 2017 by Toyota.
About 10K miles since replaced.

Voltages:
Acc: 12.1v
On: 11.5v
On w/ headlights: 11.0V
Ready: 14.0v