ABS, VSC, VSC OFF light on along with a constant high pitched noise 2001 GS300

What is your question?

I have a 2001 Lexus GS300 and I just got the following lights turned on, ABS, VSC, VSC OFF and it has a high pitched noise thats on constantly and won't go away. My friend is a side mechanic and he said my brake booster and master cylinder is fine but my brakes and rotors weren't. So if I were to replace all 4 sides of my rotors and brake pads, would these go away? Or are there certain parts I would need to get in order to get these repaired fully? Thanks

What makes this problem better or worse?

Shutting it off with an OBDll scanner but later to be returned when driving

How long has your 2001 Lexus GS300 had this problem?

Today