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Q: my vsc,vsc light, brake light staying on and a beeping noise continue sounding. on 1998 Lexus GS300

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
brakes hard to mash down. no scrubbing nor squaeking noise.I need to find a answer quick. Can this be fix without taking it to shop? been this way for 3 days non stop.
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