Prius 2nd Gen Warning Lights & ODB Code help

Hello, My trusty Prius started with persistent Brake and ABS Warning Lights after startup. It seems to drive fine and I've checked brake fluid levels. A dealer wanted me to tow the truck in in order to get diagnostic codes, as he couldn't tell me if it would be safe to drive until then.

I have since bought an OBD3 reader, compatible with the Prius 2nd gen that covers ABS codes. The entire electrical a/c system had been replaced about 1 year ago. Here is the readout analysis:

ABS/VSC/TRAC
· C1343 Current Hydraulic System Malfunction (RR)
EMPS – Electric Motor Power Steering
· C1532 Current ECU Malfunction
Air Conditioner codes
· B1413 History Evaporator temperature circuit or Evaporator fin thermistor
· B1421 Current Solar Sensor Circuit (passenger)
· B1433 History Air outlet damper position sensor circuit
· B1441 History Air Mix Damper servo motor circuit (passenger)
· B1442 History Air inlet Damper control servo motor
· B1443 History Air out damper position sensor circuit
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Can I safely drive this car about 30 miles, or should I pay for towing?
What does the "Current" versus "History" readout mean?
Can one determine what the fix would be from just those codes?

Thanks much,

Scott