2004 Toyota 4runner Electronic Stability Control Esc Service Brakes Problems

I WAS DRIVING HOME AT AROUND 50 MPH AND HAD TO BRAKE AND SUDDENLY THE VSC/ABS BRAKE DASH INDICATOR LIGHTS CAME ON AND A LOUD ALARM STARTED TO SOUND. I DID NOT HIT ANYTHING, I JUST PRESSED THE BRAKE PEDAL AND WHOLE SYSTEM WENT OFF. I WAS VERY CLOSE TO THE EXIT TO A TOYOTA SERVICE CENTER, A COUPLE BLOCKS AWAY, SO I DROVE VERY CAREFULLY TO IT AND PARKED THE CAR. WHEN THE SERVICE REPRESENTATIVE STARTED THE CAR AGAIN, THE VSC, ABS, BRAKE DASH INDICATOR LIGHTS ILLUMINATED WITH THE AUDIBLE ALARM ONCE AGAIN. SHE ALSO SAID THE BRAKES WERE HARD AND THAT I SHOULD NOT DRIVE IT ANYWHERE. REPLACEMENT OF THE SYSTEM COST ME AROUND $3700, OUT OF POCKET. SINCE THERE WAS NO ACCIDENT OR COLLISION, MY INSURANCE COMPANY SAID THEY DON'T COVER MAINTENANCE REPAIRS. AFTER CHECKING IF THERE HAD BEEN A RECALL ON THIS ISSUE, WHICH THERE WASN'T AND READING ABOUT OTHER TOYOTA OWNERS EXPERIENCING THE SAME PROBLEMS WITH THE VSC/ABS BRAKE DASH ELECTRONIC SYSTEM, I TRULY BELIEVE THERE SHOULD BE A RECALL ON THE TOYOTA VEHICLES USING THIS VSC/ABS BRAKE SYSTEM. A FAULTY BRAKE SYSTEM IS A VERY DANGEROUS ISSUE THAT NEEDS TO BE ADDRESSED. MY CAR HAS ONLY AROUND 60K MILES ON IT AND I AM THE ORIGINAL OWNER OF THIS TOYOTA 4RUNNER.