Look
to the right side of the hood release handle on the driver's side of
the Toyota and find a port. Plug the OBD II scanner tool into this port
and turn the key in the ignition to the "II" position.
Press the scroll buttons on the scanner to go through
the items on the menu. Find a command that says "Erase," and then press
it.
Watch for the main menu to appear, or wait until you
receive a scanner message reading "Command Sent." Unplug the OBD II
scanner tool and turn on the engine. Inspect the dashboard to determine
if the check engine light is off.
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You need a mechanic with a high level scan tool to check the Diagnostic Trouble Codes and Live Data. It is probably ABS Sensor related, but should never leave you with no brakes..
This can be caused by a weak or misfiring engine cylinder but the check engine light would be on an most likely flashing, if that isn't the case you may need new engine mounts.
When the light is on the ABS system records a fault code for the failure, you now need the ABS control module scanned to retrieve the fault codes stored there, once you have the codes you perform the needed diagnostics to correct the problem.
check the hub/wheel bearing and your brakes the abs is part of your hub assembly and if hub damaged or failing will affect the abs system --also check the sensor and wiring sometimes debris damage the wire but with grinding and shake most probable is hub and a brake job
I would suggest you jack the vehicle up and secure it upon jack stands. Then remove the splash shield which should allow you to see the fog lights. Then you should be able to determine what is necessary to remove lights in order to remove the bulbs.
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