Intermittent failure, the system is OK at this time. Check for loose terminals between the brake pedal position switch 4P connector, the ECM connector A (44P), and the VSA modulator-control unit 46P connector.
Refer to intermittent failures troubleshooting.
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Check the BRK PRESS in the VSA DATA LIST with the HDS while moving the brake pedal.
Does the pressure increase when the pedal is pressed, and decrease when the pedal is released?