ABS/brake lights and codes C1241 C1391 U0073

This is my wife's 2014 Prius V. She recently told me all the brake lights on the dash had lit up. I drove it, and brakes work, but the pedal feels a bit soft. Fluid reservoir is full. Pulled codes with the following results:

C1241 low or abnormally high battery positive voltage to the skid control (ABS) ECU

C1391 abnormal leak in the brake actuator's accumulator

U0073 seems to be related to ABS ECU communication error

So far I've checked all the fuses that I can find that might be related to this problem, and have checked the 12V battery voltage (>12V with car off, >14V with car running). All fuses were good.

I do see evidence of rodents (poop and seeds), but can't find any obvious rodent damage to wiring harnesses. Any thoughts on specifically where I should check for wire damage, or other diagnostic procedures would be appreciated!

 

This car is in the date range mentioned in that document.

I cleared codes, and only the C1391 code returned. The brake booster also cycles every few seconds when the car is on, so I'm thinking that is the issue.