2008 Toyota Highlander Hybrid stability control problems

While driving ABS, vsc and check engine light illuminated, I continued driving (was 10 miles from home on fwy). Five minutes later I encountered traffic, traveling at 40-50 MPH I took foot off gas and began to apply brakes. Brakes immediately seized and the car started to skid. I released the brakes, then tried again, same result. I pulled to side of fwy and stopped. I drove surface streets using the parking brake when I needed to stop, until I got to my house.

On june 15th, 2016 while over 200 miles from home on a family trip with my pregnant wife and 2 year old son in the car driving down a 2 lane highway with a semi truck behind us at approximately 45 MPH constant speed our 2008 highlander hybrid brakes locked up, a warning tone sounded, several lights lit up on the dash including brakes, ABS, vsc, (((!))), and /!\, and the car stopped completely in the highway with the engine still running.