CEL light on except only in reverse. No codes present with obd2 scanner.

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Our 2010 Toyota Sienna recently had a CEL go on. Took to local repair shop and no codes were present using a obd2 scanner. Took to dealer and they said using a special tool they got codes u0123, u0124, u0126 codes. Recommended fix was to replace abs actuator pump. CEL is constantly on but only in reverse it turns off. I don't think it has anything to do with the abs because the abs light and traction control lights are not on. Any info would be greatly appreciated. Thank you