Check Honda Aftermarket and LED Bulbs
Some 2014-2020 Toyota 4Runner vehicles may experience the ABS light on with DTC C0226, C0236, C0246 and C0256 stored current in the ABS system. Use a picoscope to monitor the ground to the skid control ECU with the engine running and headlights on, then with the headlights off.
If the ground circuit voltage fluctuates with the headlights on compared to off, inspect the headlight bulbs for any aftermarket parts such as LED or HID bulbs. If aftermarket bulbs are found, perform the same test with factory original bulbs.