2007 Toyota Estima ACR50 Intermittent ABS & Warning Lights Issue: Fault Codes U0129, C1249, U0073

Hi there. I own a 2007 Toyota Estima ACR50 and am experiencing intermittent warning lights and driving issues. When the problem occurs, the ABS light comes on first, followed by brake light, engine light, and power steering light. The power steering becomes unusually stiff, and the speedometer needle drops unexpectedly—though other instruments function normally. Notably, when these warnings turn off, the speedometer reading slightly increases. Turning on the front fog lights temporarily resolves all warning lights except for the ABS light. I have diagnosed fault codes U0129, C1249, and U-0073. I previously replaced the brake light switch (for code C1249), but the issue persists. The problem appears to be related to the ABS system, as symptoms resolve when the fog lights are turned on. Based on my experience, replacing a specific component in the ABS system has resolved the issue.