2012 Prius - Shop says there's no issue; ABS lights were on

Okay, here's the situation:

I have a 2012 Prius III (I think) and around Aug/Sep of 2023 I was driving my kid home from school and the Brake and the ABS lights all lit up like a Christmas tree. We got it home w/o issue, but I wasn't able to pull any codes with my Carista OBD2 device and we definitely didn't have the cash to have it looked at, so I let it sit and my wife and I shared her car. I did run it every week or two for a bit, but then we moved on short notice around Halloween '23 and money definitely wasn't there to fix it, so it just sat in the parking lot at our new apartment. I'd run it, drive it up to pick up a prescription or a meal in our small town, but I even stopped doing that once we decided to take it off the insurance until it got fixed.

Fast forward to the beginning of this month, we got our tax refund back and I had it towed up to the local service shop to finally have it diagnosed. They've had it for 2 weeks, and just called and said it was ready to go, w/o giving me any sort of estimate or anything. They said all they did was recharge the battery, which was low. I asked them about the ABS lights and was told there were no codes, and no lights. There were definitely lights when the tow truck driver took it from me.

All of that to say, what should I do now? It sounds like the brakes are being pressurized almost constantly (as in this video on YT: /shorts/KriUq4-R6QE), and that started being way more frequent shortly before the lights first turned on.

Any help would be great. I'm not sure if I should trust the place I sent it to, or have it looked at by a different shop. I'm definitely not going to take it to Toyota, b/c I know they generally default to "everything needs replaced and it'll be $20k just buy a new one from us".