This happened on my '04 4Runner with 119,4xx miles on it.
Fortunately I was close to home.
New ABS Module or whatever Toyota calls it for its respective year was about $1,300. I told the mechanic to return the replaced part to me as I was going to replace the motor and accumulator on it for when the same part fails on my '03 4Runner. Joke's on me... my '03, and my '06, 4Runners each have a different part # for this component than my '04 4Runner
Strongly recommend replacing this as PM and not waiting until it fails for the obvious reasons (loss of brakes, stranded in timbuktu, etc).