(!) abs vsc warning light after 30 mph after battery change 09 Prius Touring

Hoping someone on here can help me.

I have 2009 Prius touring. Had a 12v battery failure, so i replaced the battery.

1. I found a ton of water in the well where the battery sits. So that concerns me.

After i replaced the battery,

2. (!), abs and vsc lights up after i go past 30mph. If i turn off the car, the warning goes away and doesnt come back till i step on the brakes or go past 30mph.

I am ok with fixing cars. Can someone help me with diagnostics and what my next steps can be. I believe i have the techstream odb adapter to usb, but will need to find an old computer to use the software. Used to have it somewhere.

Thanks in advance for the help. Im only able to work on the car on weekends, so will report back with results once i've tried it on the weekends.

 

So i got a mini-vci and the Toyota Techstream software. I got a u0124 error, loss of communication with lateral acceleration sensor module.

That was the only error.

All the searches i saw on here have multiple errors along with that error. Anyone know where that sensor is so i can replace it?

Thanks.