VSC, ABS, (!) and emergency brake lights

Hello. I had the rear brakes/rotors/calipers replaced a couple of weeks ago, then left town until the other day. About 5 minutes into the first drive after returning, the lights in the subject line came on.

They come and go, so of course when I took it back to NTB they couldn't reproduce the issue. The brakes feel different (worse) when the lights are on so I'm assuming ABS or something is getting disabled.

I see that one needs to get the codes read to see what the specific problem is. But since they're not on all the time, is it possible for the dealer to pull a code history? Or is there no way to figure this out without them doing a pull while the issue is occurring?