ABS problems after brake change

I’ve searched far and wide, searching for an answer to this problem. Last year I replaced the brake shoes, springs, and auto adjusters for the rear brakes and while testing the brakes everything was working fine. The car was coming to a complete stop without any trouble on the brake pedal, the ABS, VSC, ((!)), and BRAKE lights came on with the code for hydraulic system malfunction on RL, and then after clearing it the brakes will work fine for a while but then it will pop the code for the other side of the car, RR, and repeat this process.

We took it to Midas afterward for a brake inspection + bleed and their tech put it into maintenance mode and drove it around for a little bit with no success. Their scan tool was unable to bleed the ABS pump, so that’s where they thought the problem was.

Everything was working fine, the car slowed all the way to a stop without any noticeable issues. It was just that my dashboard was a Christmas tree.

Last week we replaced the rotors, calipers, and pads for the front (and bled the front calipers) after the driver-side brake had the metal backing come off and the pad get stuck between the rotor and the bracket, and I noticed that the new driver-side caliper was hanging up a little bit on Monday because it "smelt toasty" (very technical term here).

So I took it to Midas for the comprehensive brake inspection and brake bleed, upon bleeding the passenger side rear wheel cylinder they tightened the bleeder screw down all the way, and still kept going, so they went ahead and swapped both cylinders.

So as of this point, the repairs are:
Last year: Rear shoes, springs, the little rubber gaskety parts on the back of the drum, and auto-adjusters.
This year: Front rotors, calipers, pads, and rear cylinders.

Yesterday, they got back to me and said that they didn’t even make it out of the parking lot before "the thing" happened. Not sure if it's the ABS VSC ((!)) BRAKE lights coming back for the rear brakes, or if the brakes decided to stop working on them.

Today they called and said that the car's front driver-side brake was still hanging up, so the phone person said it might be something with the abs module.

Does anyone have any advice on what should happen next or if the issue lies elsewhere?

If it’s relevant, the first letter of the VIN is J and we replaced the rear shoes with the version that had the note for the vehicles that start the VIN with J.

I saw a post where someone said something about a variable speed sensor that might be tripping on the passenger side, causing the driver-side brake to activate to match the speed (and fail at doing so) and tripping the abs lights, and holding up the caliper. I'm not sure if this is what the solution is, so some help would be greatly appreciated!

Thanks in advance!
-XanMat
'09 Prius (300k+ miles)

 

Sorry, didn't get any notifications that this was officially up yet. So, Midas did their thing and they've diagnosed it down to the ABS control unit. However, nothing seems to be sticking or dragging anymore. While at O'Reilly earlier, I checked my codes, but the scan tool could no longer find the ABS module.

While at Midas, I was watching them work on the car and the tech said that the abs relay is getting HOT while running. It seemed the hanging caliper problem was connected to a faulty speed sensor on the driver-side drum, as it stopped hanging after we replaced the hub assembly (bearing, sensor, etc.) and the hydraulic malfunction codes C1343 and C1344. A tech on Reddit suggested that the accumulator/actuator could be going wacky and a fellow driver said that their car also has these problems and theirs was diagnosed down to the "rentative braking system"

I'll attach the pages of work that Midas sent me, the misfires were because the car was low on oil (needs new sparks as well), and we all know about the combo meter problems.