Pre-collision error following by many others(C1425 P0572 C164E B2284)

Tonight, our 2019 Prius started displaying a PKSB Pre-collision Malfunction error. I scanned the codes which were C1A4B and C1A50. I went for a drive and confirmed the front camera still worked because LDW was still functioning and auto brights also worked.

Then about an hour later, these additional errors popped up:
Anilock brake malfunction
Reduced braking power
Lane departure warning malfunction

I scanned again with the following additional codes:

C1425
P0572
C164E
B2284

They all came back within a few seconds of clearing them.

I disconnected the battery for a few hours which made no difference.

The battery is fairly new measuring 12.8 volts more than an hour after the inverter was turned off.

The brakes feel like they have normal power although I know antilock brakes won't work.

Is there a commonality to these errors that could explain them all?

 

This morning all the warnings disappeared and everything seems to be working but the engine check light remained on. The remaining codes:

P0572
C1425
B2284

are all brake related. I was able to clear them and the engine check light went out and the codes haven't returned.

In retrospect, I think I screwed up. If this is an intermittent problem, I have no proof that it already happened and the warranty is going to expire in 3K miles. So ironically, I hope it comes back soon because I think it's going to come back eventually no matter what.