I have a 2004 GX470 with just over 200,000 miles on it. I was driving today when the VSC/TRAC/ABS/BRAKE lights all came on and a loud continuous alarm went off. I was able to drive it for a while with no issues with the breaking. After a few minutes of driving the brakes went hard and stopped working completely. After turning the car back off and on again they started working again but the lights and alarm stayed on. Any idea what the issue may be? And help is appreciated. Thank you