Abs and brake light

Hello! New to the forum but been reading around for a while. Just bought a 2007 Prerunner TRD with 118k miles on it has both abs and brake light on. Read around a lot and did some tests. Everything else seems to work fine. Fuses are good, fluid level is good.
I pulled the code C0215 for left rear sensor circuit. Tested the s22 connector and the ends of both rear left and right harnesses and got 11.10-11.11v for each. So I thought the harnesses are good and I replaced just the wheel speed sensor and tried clearing the codes with my scanner but lights are still on. Guessing it could be the actual skid control ecu?
Need some more diagnosis guidance,
Thanks!

 

You could have a failed wheel bearing and debris on the tone ring that the sensor is trying to pick up. This metal debris will give erratic readings and cause this code. Did the old sensor have oil and metal debris on it when you removed it?

https://www.customtacos.com/tech.ol.../06toyrm/06toypdf/06rmsrc/rm2006ta/041006.pdf

1. At vehicle speed of 6 mph (10 km/h) or more, speed sensor signal circuit open or short for 1 second or more.
2. Speed sensor signal open circuit occurs at least 255 times.
3. Speed sensor signal circuit open for 0.5 seconds or more.
4. With ignition switch ON and vehicle speed at 2 mph (3km/h) or more, 3 wheels output reverse rotation signal and 1 wheel outputs high-frequency pulse 75 times.
5. At vehicle speed of 6 mph (10 km/h) or more, speed sensor output halves for 5 seconds.
6. At vehicle speed of 6 mph (10 km/h) or more, changing of normal rotation signal and reverse rotation signal occurs 7 times within 0.006 seconds while ignition switch
ON.
7. Signal output of any one wheel different from signals of other 3 wheels for 1 second, at vehicle speed of 18 mph (30 km/h) or more.
8. Reverse rotation signal produced for 1 second or more at vehicle speed of 62 mph (100 km/h) or more.
9. At vehicle speed of 18 mph (30 km/h) or more, one speed sensor malfunctions and differs in signal direction from other 3 wheels.
10. When voltage at IG1 terminal 9.5 V or more, voltage of sensor power supply decreases for 0.5 seconds or more