In my case this parking brake module fixed my parking brake messages and C13af code. After replacing the module I cleared the codes with techstream.

https://www.ebay.com/itm/07-17-LEXUS...0AAOSwaF1gGJ11

The module is fairly easy to access in the trunk. You can take it out and inspect it for water damage, seems to be common. I also had to replace the 30amp fuse.

 

Is it possible for a toyota alphard 2017 vehicle to shake when braking at 100km/h with an EPB fault?

 

Where was the 30 amp fuse you had to replace?

I have same issue replaced module still get code after going over 10 miles per hour

Thanks