hi mate did you ever end up fixing the issue my partners hzj105 2002 has just started doing the same thing, the brakes are still working i have done basic tests VIA Toyotas repair Manuel and still can't seem to replicate the issue until the car is driving around (ABS+Handbrake light+alarm) Code 51
I'm yet to fully investigate due to how bad the weathers has been and not having undercover place to check and diag the issue but i believe its most probably going to be the pump motor connections between the pump from abs module to the motor itself or internal brushes eg in the motor , without visual inspection of connections and also removing the pump motor and stripping it down for a visual condition of the brushes/internal condition of it .
i have seen you can buy cheap copy's of the pump motors for 100-140$ Aus off eBay I might just buy one and install it for peace of mind .
even tho this isnt a 100% fix for this issue i am having as of yet , its a good paper trail for someone else that might be having an issue.
i may even start another post ...
cheers .brad
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