ABS/VSC/BRAKE LIGHT

I have a 2008 base prius, 193K miles on it. New hv battery in it back in 2019, new 12v in 2022.

I have had the VSC, ABS, and Brake light coming on for a few weeks when I would turn the car on. There would be a long beep then it would shut off. I would notice this keep happening but couldn't get any codes since it would eventually turn off. Then I realized that if I took the parking break off, during these long beeps, my car would roll a few feet, with no effect from me holding down the brake with my foot.

Eventually, the lights came on and stayed on. I suspected that it was the brake actuator, long before the lights, since I would hear the hissing sound going off every 15-30 seconds when my car was on.

I purchased a FOXWELL NT630Plus and checked the codes. I got C1-249 , C1-256, and C1-391.

I suspect that C1-249 is due to the other two codes lighting up.

For the codes C1-256, and C1-391, I assume that I need the brake actuator part? like this one from ebay: " 2004-2009 TOYOTA PRIUS HYBRID ABS BRAKE PUMP SYSTEM HYDRAULIC ANTI LOCK OEM "

Is there any way for me to check to ensure I'm getting the right part/all of the parts I need before ordering and installing myself? I would like to save money, so going to a dealer for them to do something that I'm not thinking of, would not be ideal for me.

Anything would help. Thanks!