Toyota 4 runner 2005. VSC Trac, VSC Off Slip indicator and CHECK lights all on. on 2005 Toyota 4Runner

Toyota 4 runner 2005. VSC Trac, VSC Off Slip indicator and CHECK lights all on. When I step on the brakes, it fails sometimes but it latter becomes normal again. Took the vehicle for a scan. Error codes reported are: P0420, P0430, C1223, U0073, U0123, U0124, U0126. However, after scan all lights returned to normal...Is this ok?
I was also told that I needed to change the brake pads. Can the brake pads alone give all these error codes?

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