Flip side. Only a very specific few things could cause 1/2 of this like you described. Massively warped/bent rotor(s) is one (brakes only) pushing pads back into calipers causing multiple pedal presses to regain contact. Wife would have complained of other issues first.
Close up pic of abs module/brake controller if possible? I’m only giving advice based on MY previous experience. If the issues feel digital (1’s & 0’s/on-off) then it’s probably electronic related.
This car is equipped with an electronic braking system? If so sounds similar to some issues I had with my 06’ Benz. In my case no effects on power steering (no shared connections) but it was absolutely an electronic failure of the SBC (same basic system Toyota used around that time).
It will be fine. Not ideal, avoid prolonged heavy throttle until you’ve burned a few tanks.
Probably. Easiest “cheat” is to take a long highway trip, like 50 miles or so, then DIRECTLY to inspection place. This heats catalytic converters and they sorta self clean like an oven. They do about 98% of the work to pass an emissions test….my experience in similar situations
Just use Discount Tire. They keep next to zero records. I live on a SHIT TERRIBLE dirt road. I told them that up front. They just keep replacing tires for $22 warranty extension.