I get a similar problem with my RX350 although clearly it doesn't include any battery problem. From time to time, either immediately after starting the engine or while driving, the VSC, brake and ABS light either stay on or light up. Everything works including ABS when I have tested it by sharp braking on grass. No fault codes have ever been detected either by my little dongle or my garages more sophisticated system on a laptop. The lights are always cleared by stopping the engine and restarting. Sometimes it seemed to be related to driving in the rain but not necessarily.
Various explanations have been proposed (dirty ABS sensor discs on the brakes, differing tyre pressures (affect the rolling diameter of the wheel so speed of rotation varies thus simulating a skidding wheel)). None of these have been validated.
The final conclusion has been that it's caused by some obscure software glitch in the main ECU which resets itself when the engine is switched off and restarted.
This has been happening for many years and the car has never failed an MOT.
it remains a mystery and I have learned to live with it.