I read all the posts I could find about this topic, and though this is an old string I hoped to hep anyone who is experiencing this problem with my experience and finally my resolution.
I replaced the little ABS switch under my brake pedal first. I can't recall where I bought it but I got it pretty cheap (about $35) on-line. That didn't do anything, but it was the cheapest option to try and fix it easily.
Then I waited until I found an ABS Module on eBay for $55 total including shipping (#89540-35320). Replaced it and the lights went out halfway down the street so I thought it was fixed but two days later they came back on again. Hmmm.
I decided it was time to do some electrical continuity checks on the ABS Sensors at the wheel hubs. So, I removed the right front tire and immediately noticed a severely torn half shaft boot. So, I replaced the half shaft. When I opened the box for the shaft I read the notice inside to make sure I understood anything unusual (heaven forbid I would look for instructions!). I noticed one sentence in fine print that said damaged boots sould let water and grit in which could damage the axle (of course) AND IT COULD INTERFER WITH THE CORRECT OPERATION OF THE ABS SYSTEM. I was hoping this was the entire problem and it has been two or three weeks now and no more lights since I replaced the half shaft.
I noticed some odd things too that you may notice:
1. The problem started when the temperature went to -8 degrees, which is a common issue with the 4Runner ABS system for some reason.
2. When I went through the automatic care wash and the wheels got wet (undercarriage washer) the lights would go out for a while.
3. When it rained the lights would often stay off until the rain was over and the roads were dry.

So, the only thing I can figure is water was entering through the boot and somehow providing a connection to the ABS sensor and the ABS system that normally would not connect all the time otherwise. Weird and perhaps not a correct assumption. (I'm not an electrical engineer or even claim to be very capable with electrical systems in general.)
Anyway, that's my experience. Hope it helps someone out there.

Noticed a torn boot, VSC TRAC, VSC OFF, TRAC, ABS lights were on during only 2 mornings when there was high humidity, drove a short trip and they went out upon restart. Can't remember if the check engine light was on, I'm thinking it wasn't.

Tonight I checked the ABS codes and got the c1223, U0123, U0124, U0126, no check engine light is on.

c1223 abs control system malfunction
u0123 lost communication with yaw rate sensor module
u0124 lost communication with lateral acceleration sensor module
u0126 lost communication with steering angle sensor module

Had the brake light switch so I've swapped that and took a ride around and still got the codes. Both brake lights are coming on, everything is operating as expected.

At this point I am going to continue to monitor it being I just changed the switch and the hope of it still cycling out, though I know at some point I would correct the CV boot issue.

I just experienced this same problem yesterday. Occurred after filling up and getting my emissions checked. Tightened gas cap after reading this forum, and drove around today. Seems to have resolved the issue. Thank you to all the contributors.

Take out the gas cap and lubricate the o ring with some teflon grease, then tighten it back up and after a few minutes or so of driving that should go away. Worked for me.

Experiencing the same thing a week after getting a smog check. No check engine light and but all 4 of those lights are on.

Crossing my fingers that tightening the gas cap does the trick.