Did you pay a shop/dealer for the above diagnostic and quote? Below is the workup for DTC C1343, notice how this DTC has five INFs or subcodes (571, 572, 573, 574, 575) in the workup, knowing any subcode(s) may make it easier to diagnose the problem, and potentially save money/parts/labor. https://share.qclt.com/%E4%B8%B0%E7%94%B0%E6%99%AE%E7%91%9E%E6%96%AF%E5%8E%9F%E5%8E%82%E8%8B%B1%E6%96%87%E6%89%8B%E5%86%8Cpdf%E6%A0%BC%E5%BC%8F/Repair%20Manual/04pruisr/05/21avn/cic13416.pdf Not sure if this thread is helpful : ABS, VSC, BRAKE - DTC1343_571 | PriusChat
I was just looking at that same pdf. file It is the C1343 571 Looks like no troubleshooting listed for the 571