If it is the BRAKE that is constantly illuminated, then check the level of the brake fluid. (This light has nothing to do with the bulbs themselves. The light for that is the one of the tail end of the car with what looks like eyelashes.) Even though the fluid may be above the minimum mark, Toyota/Lexus brake fluid level sensors are very touchy ans can still set off the light. Try adding some new DOT3 fluid to bring it up to about 1/4 inch below the max fill line. If that doesn't do it, then have the brakes checked over by a professional. Midas will do a free estimate I believe. May help determine the squeal, too.
Now, the squeal may also be that the previous owner used a semi- or full- metallic pad when the did the brakes last. This squeal is normal when the pads first start to make contact but then goes away when more pressure is applied.
As SK said, The flashing ABS needs to be checked out. Chances are it is a faulty ABS sensor at one of the wheels. No one will know until the codes are retrieved.
And again in accordance with SK, get the car checked for sludge. However, at 152K and a smooth running engine, you may have lucked out with a previous owner that was dubious in oil/filter replacement.
See if you can't track down previous maint. records. Find out what has been done.
Pull a spark plug from the front bank and see what they look like: new, old, black, brown, soiled or clean burning.
Pull the stick on the tranny fluid and see what the color is. Cherry red or blackish brown.
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steviej