Brake booster is bad. brake is spongy. repeated attempts to take to dealer lead to no action after complaining loudly and the dealer said my wife just has high blood pressure. but that is not the case, my highlander has low brake pressure not "high blood pressure. toyota does not share information about this defect by pretending defect doesn't exist and not notifying dealers. check prius booster recall. similar technology that doesn't seem to change.
I was stopped and in park with the vehicle running when the "check vsc system," "check abs, brake malfunction" warning lights came on. they have since gone away and returned intermittently. fortunately, there was no failure while in motion, but dealer estimated $4600 for repair. if this is the same problem for which warranty coverage was extended for 2006-07 models, this appears to be an ongoing issue.