2006 Prius HV battery and/or Brake actuator failure

I recently bought a 2006 Prius with 240k mi soon the brakes went out completely and a local mechanic said it was the HV battery, but I think there may be more than just that going on here. The car studders at acceleration from stop and often has to be turned off and restarted to restore acceleration presumably because of an inverter problem or something.

These were the codes:
C1391 ABS $29
C1310 ABS $29
C1259 ABS $29
C1256 ABS $29
C1252 ABS $29
C1241 ABS $29
C0200 ABS $29
B1650 SRS
P3000 HPCM
P0A10 HPCM
P0A09 HPCM
P0A08 HPCM, Mod $03
P0037 ECM, MOD $00
P3024 Mod $03

If anyone has experience with this combination, I'd be grateful for any idea where to start