ABS & park brake lights come on after about 10 min. of hwy drivin

your vsa is vehicle stability assist that works with the abs system, verify brake calipers for proper functioning, sounds like breaks stick and cant return efficiently after breaking, vsa is a traction control light, if both lights remain on without flashing, those systems are disabled due to a problem, scan vehicle for possible abs sensor malfunction

Do not know what the issue is,but you have an ABS
Braking System problem

Why did you wait to have it diagnosed & repaired, if necessary?

I would at least have a shop check that module for codes & let
them weigh in

Whenever you get any light on your dash, you check for codes within 24 hours & then have a problems diagnosed & repaired,
within a week or less or you park it & don't use it.

You have to do a visual inspection with tires off the ground and wheels removed. First look for bent splash shields ,rims ,ABS wiring, old deteriorated or bent brake hoses. Then have someone put parking on and place vehicle in drive while vehicle is on jack stands with wheels removed look at each wheel to see where the noise is coming from. Could be anything but you have to do a visual inspection. Good luck

check the calipers are not binding

The ABS light being on will turn off the anti Lock Function. You will only have regular non-ABS braking on your vehicle. O'Reillys Autoparts should scan your system for free, at least you will then know how much it will cost to fix. Hope this helped...

Try this if rear drum brakes.Go in reverse about 8 feet and hit the brakes.This will self adjust the rear brakes and possibly fix the issue.Your rear brakes may have become locked.

You need to have delaer pull the codes from the computers on borad. It sounds like an ABS brake issue.

Autozone can pull codes for engine & trans for free, so you could try that first. Wrench light is also for brake, body & chassis, brake issues.

With the sudden loss in brake pressure, and the light on, I would check the fluid level and if its low, suspect a brake fluid leak, that may be the burning smell, maybe leaking near a exhaust pipe? You dont mention where you are, but if its NORTH and salt is used to get snow off the roads, brake line failures are real common.

Its either the speed sensor on the rear differential or your steering wheel is all the way down pinching a wire in the harness. I have had both problems. Raise the steering wheel and if that does not fix it then its the speed sensor(might be called something else) but it is on the rear diff.

check your fuses, then check the ABS valve located beside the master cylinder and the wiring to it and finally check your speed sensor, which is located on the transmission on a 2 wheel drive and on the transfer case on a 4 wheel drive. but make sure hat your E-brake is released as it will cause these lites to come on.