Clicking Brake Pedal.

So randomly over the weekend. My wife went to drive the 4Runner, and felt a clicking in the brake pedal as if the ABS was running. Has been like that for a few days. Brakes fine and have checked pads and rotors. All looks good. Then last night the VSC track ABS and emergency brake lights all came on. Any thoughts as to what might be going on? Thanks in advance.

 

Never had a check engine lite come on since I owned the car. Had my brakes done at profession shop with experience. We brought them the parts.

4 runner brakes can be "tricky".
Air in line? Had this happen after a brake job.

Mine stops like new car. No issues.

2005 V6 4runner 150,000 miles.