Please make your video "public" so that we can watch it.

It sounds like your braking system is losing pressure, hence the motor keeps running to maintaing the pressure. Any obvious leaks that you can detect? Perhaps park on four cardboard pieces under the tires and see if there are any wet spots?

You can do some troubleshooting using the Toyota Techstream software and connecting to the OBD-II port. You can interrogate the ABS ECU to see what's failing. You can also use it to activate solenoids and the ABS pump to do a brake bleed. This gets the air out of the ABS motor which is hard to do otherwise. It's a neat way to bleed your brakes because it tells you what to do and which bleed nipple to open.

Let us know how you make out.