I have an 03 V8 with around 160,000 miles.
Was driving home as usual when those lights and a loud, continuous beep started.
I pulled over and turned everything off for a minute. When I restarted all of the lights and the alarm were still going.
I decided to finish my commute home (less than 10 mins, 25 mph streets). Everything seemed normal (except the obnoxious noise).

I got home, parked but then needed to move to another spot.
That time moving the vehicle I had to press VERY hard on the brakes, pedal almost went to the floor, to get it to stop (driveway speed). Brake fluid level is normal.

I'm hesitant to even drive down the street to get the vehicle scanned... any thoughts?

Oh, and as this seems brake related I should add that I have had warped rotors that need resurface/replacement for a while now. I have not gotten around to it because I was told the pads were fine and there was no real safety issue, just some not very smooth braking...