ABS and Traction Control lights on. Safe to Drive to dealer?

Out of the blue this morning, the ABS and traction control lights came on. The brakes now seem weak and require a hard press to be effective. I have to press the brakes much closer to the floor than usual before they seem to actuate. I checked the brake fluid and it is at the normal level in the reservoir. After a shutdown and restart the lights remain on with same symptoms.

Should I call a tow truck or is it safe to drive to the dealer? I will also ask the dealer their opinion before I bring it in. The 2011 Prius is out of warranty but very low miles, ~ 35k. This is literally the first major breakdown, not counting a not-my-fault front end collision in 2015 which put it in the shop for 2 months.

I've read some other threads about ABS symptoms. I sure hope it's not the ABS actuator, which is very expensive.

 

Probably the safest option. My insurance covers roadside assistance, so might as well use it.

 

I have a ScanGauge II but would have to check the manual on how to use it to read the codes.

Edit: According to the dealer service dept., if the lights aren't flashing it's safe to drive. I drove it to work. It takes some getting used to the pedal feel and longer braking distance. B mode helps. I have an appt. for service tomorrow morning.

 

I ran the Scangauge (v 3.17) SCAN function multiple times. It showed:

No Codes Found
--Ready--​

Seems odd there would be no codes when these 3 warning lights are on:

Slip Indicator ~~, ABS, and Brake system ((!))

In the owner's manual, these lights are listed under "have the vehicle inspected immediately"

 

I took it to my local hybrid place. They scanned it for free. Found one speed sensor code. Cleared the codes and all is well. Apparently it was an electrical glitch and/or weak 12V battery. The battery was replaced in 2016, so I would hope it isn't that.

 

Update: the brake problem hasn't returned. Looks like it was just a glitch.