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Abs Error Code Retrieval

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Recently had "ABS" "TRAC OFF" "VSC" and Park Brake Light all illuminate on a 2003 ES300 with 125K Km. A search brought up a possible faulty brake light switch - but brake lights operate properly so switch is good. I suspect it is an ABS fault which in turn causes faults on VSC and TRAC since they use the ABS function. Do not see why the park brake light would go on though. Is there a way to retrieve the ABS error codes? I was hoping it would come through the OBD2, but my reader did not see any faults. TIA for helping a novice Lexus owner.

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