Help with 3 error messages and 6 warning lights - please!

[eyemdee]

My partner's low mileage 2019 Yaris Excel Hybrid is intermittently interrupting our day with a series of beeps, error messages and warning lights, all appearing simultaneously, as follows:-

Headlight system malfunction. Visit your dealer
Pre-crash safety system malfunction. Visit your dealer
Check RSA. Visit your dealer

Each message is preceded by a beep and the following warning lights are also illuminated:

Master warning light (!)
Brake system warning light (red)
Brake system warning light (yellow)
ABS warning light
Slip indicator
PCS Warning light (flashing)

My dealer has said that a sensor inside a wheel hub needs replacing and is going to contact us when it is available. They have said the car is safe to drive until they can do the work but it has been over a month now and I am worried, particularly about the brake warnings as the pedal feels different while the messages are being displayed. Once the pedal feels normal again, usually after 2 or 3 days, the messages all disappear.

Does any of this ring any bells with anyone? Any advice appreciated.

[Mojo1010]

Does the car start? Sounds like a low voltage 12v Battery also.

[TonyHSD]

If a speed sensor fail on any of the wheels will trigger all these warning ⚠️ lights and will disable regen braking and rear wheel brakes.
The brake system will only relayed on pure hydraulic power and work on the front wheels only.  
You will lose ev mode too. 
The engine will be constantly running and the car although will remain drivable it is not recommended to drive it, it’s not safe and it’s not meant to be used that way, this is only to get you home or to the garage for example. 
If they told you the sensor needs replacement it’s gonna be the whole hub bearing. This is a common issue on many Toyota cars. Sensor failure can be as a result of water ingress or internal bearing seal failure. 
Best to stop driving your car and consult owners manual. Any red warning light on dashboard means to stop.