Opinions needed before brake actuator repair.

Hey everyone, I was browsing around the forum for the past week to handle an issue I have with my 2009 Prius. It started around a month and a half ago when I parked and turned off my car but about 6 minutes later I had to seriously rush out to get something, I started my car and immediately put it on drive and flooring it and that's when I noticed my BRAKE, ABS, VSC and (!) lights were on. I thought it was just the way I started my car so I didn't pay much attention to it for a while, until 2 weeks ago it started that long beep when I open the door or start the car and the brakes didn't push in for a second. Also I mainly use the car to drive to work which is 60 miles away from me.

My car drives fine besides having a much lower MPG ( 44 to now 38 ), regenerative braking doesn't work when hitting the brakes but B shift works, the energy monitor screen shows the electric motor charging the battery but not really, it also shows the electric motor is trying turn on to help drive the car along with the engine but immediately shuts off and the cycle will happen until I drive at a certain mph where only the motor is on to drive the car. I started to seriously dig deeper into the issue because it feels like it might be getting worse, same with the rattling too, since I bought the car there was this rattling cycle that happens for a couple of seconds and stop for a couple of seconds, but now it randomly rattles much longer for about 10 seconds and off for a couple, plus when I press on the brakes I hear a clunky sort of pumping air sound from it.

From looking at the forums I've managed to get the blink codes for the issues:
ABS- 42
VSC- 45
(!) - 41 / 52 / 57 / 69

I don't have Techstream, just bluedriver so no codes are showing up.

I've looked into YouTube videos on how to replace the brake actuator and I am confident in doing it on my own on a free day, but if there's a reliable shop around I can take it there for repairs if I don't find the time to do so. Right now I do want other's advice and opinions on the matter and if possible if I just need to replace a relay or connection before replacing the brake actuator.

I can also provide videos if needed, thank you all!

 

North of Central Florida around the Volusia county area

Shit and I did mention the noise to them but they said they didn't know about hybrids

Also yeah I found the codes after looking around for a while and really hoped it was just an electrical issue, but luckily I haven't had the need to use my car this week so really my two options are dropping it off at a dealer and replacing it for 2.7k or spending 1.3k + techstream and brake fluid and doing it myself

 

Hey SFO I decided to go with the closest toyota dealership near me aand the cost to repair is about $2900, $1900 for the part and $700 for labor, the rest is taxes.