No Brakes on Start up

Hey Guys. Quick back story before I get to my main issue. I have an 08 That I have owned since new and now has 190k miles on it. I was pretty active in this forum when I first got the car but it has probably been 8 years or so since I have logged in (hence the new account). I tried searching for related threads but found nothing. So on with the story.

In the past 60 days or so, my car has had all of the CEL come on. It still drives great. except for once in a while when I first start it up in the morning it has no brakes. The pedal feels mushy and if I put it in gear to quickly it will just start rolling. This literally only lasts about 20-30 seconds then the pedal slowly builds pressure and works fine.
I have had the local auto parts store try and connect the scanner to it, but they cant retrieve any codes. Possibly because they are ABS codes and their scan tool sucks.

I assume there is something wrong with a braking assist system somewhere. I am constantly hearing that clicking sound from the front of the car. I used to only hear it when I stepped on the brakes or after the car was off. Now it is constant. I assume that is some sort of pump that build pressure or vacuum in the system?

Thanks for the advice