ABS and VSC lights on the dash have been flashing on and off for the last few years. They always went off after flashing. 2 weeks ago they both flashed on and the warning message ‘Check VSC System’ came on with a loud buzzing whine. Now they will not go off. The brake pedal pulses back when applied and felt very hard. It took the car a long time to stop which is a safety danger. Took it to an independent mechanic and he diagnosed that the ABS system has failed. He also mentioned that Toyota issued several Customer Support Notices to repair or replace the unit but I did not get them even though I am the only owner and still resides at the same address. He gave me the notices and I went to a Toyota dealer but it refuse to provide any warranty work and wanted to charge me for another diagnosis, stating the notices had long expired.