This problem started as an ABS warning light intermittently coming on and off randomly. After taking the vehicle in for service several times and the service dept. saying there was no record on the computer diagnostic system showing a warning light being triggered we just shrugged it off as a gremlin. It's been doing this for years now and finally the lights came on permanently and the brakes went mushy almost causing an accident. Now the dealership wants to charge 2,700.00 dollars to fix it? How about you (Toyota) step up to the plate and fix a serious problem. This is a major safety issue and we're lucky it didn't cause an accident or even a fatality. The symptoms are, a thunk that sounds more like a bottoming out shock or strut when taking off followed by a few squeaks then, when vibrating low pitch clicking sound when applying the brakes. Finally, when the light is on, you'll feel mushy brakes. If you have these symptoms, call the National Highway Traffic Safety Administration @ 1-888-3274236 and make a report. It's easy. They'll ask you for your Make, Model, VIN and YEAR and when the problem started. Then take your car in and have your ABS actuator replaced NOW!!!