2012 Prius II Engine help 177K miles

2012 Prius II 177K miles

Need guidance of look into repair, replace, and insights/recommendations for what to do.

I am considering taking it to be assessed but am concerned about driving.

It has only required routine maintenance to this point. I was hoping to get more miles from it and like it more the older it gets (current situation excluded).

Some info:
- Original Owner
- 177K miles
- Regularly maintained, no ERG cleaning (just learned about that here)
- A few months ago a dealership let me know the oil was low and dirty, after it had been changed about 2 weeks prior at a different dealership - I saw the oil and level.
- For a couple of months the car would sometimes beep when I made a hard right turn - no lights on the dash or anything
- System maintenance light came on, wife called dealership and they said it's fine, no maintenance needed
- Finally, the beep came on and for about a second (literally) there was a flash on the dash that said low engine oil pressure
- Put in about 3-4 quarts of oil and drove for a couple of days, no visible oil leaks
- Started one day and there was loud engine knocking, wife said it had previously done that. Has reduced/gone away.
- Have only moved car into garage since then


Codes (used blue driver):
- C1241 ABS, low or high poser supply voltage
- B1442 AC, Air inlet damper control servo motor
- B1585 Navigation system (don't have navi on the car), current/history usb device malfunction
- P148F Engine, Current/history engine coolant pump over revolution
- B2312 RR door motor code, current/history, check report for description (nothing)