Check all your wheel sensors are ok... they need to be flush into the little holes or there will be problems. The error codes your getting are all 4 of the wheel sensors which is impossible unless you have disconnected them and driven the car.
This link will tell you all you need to know:
http://toyotaownersclub.com/forums/index.php?showtopic=47053
Note it will not reset itself you need to pump the brakes:
"To clear fault codes, leave the jumper in place between terminals Tc and E1 with the key on, then pump the brake pedal eight or more times in three seconds or less. When codes are erased, the ABS light should flash two times per second."
Nathan