2007 Toyota Highlander ABS/Trac Control/VSC

Hi everyone, I just picked up an 07 highlander from a family member and it’s been having some ABS/Traction control/VSC issues (part of why I ended up with the vehicle). Other than this issue, the vehicle is in fairly good shape, has been well maintained, and only has about 130,000. I haven’t had a ton of time to really look at it but I got a chance to pull the codes today and it’s showing a C1223 (ABS Control System Malfunction), U0073 (Control Module Communication Bus Off), U0123 (lost communication with yaw rate sensor module), U0124 (lost communication with lateral acceleration sensor module), U0126 (lost communication with steering angle sensor module). The ABS light, Traction Control Light, and VSC light are all on on the dash. The low tire pressure light is on too (thought that could just be a low tire, I really haven’t had a lot of time to go over the vehicle). The family member I got the vehicle from said that the lights came on about a year and a half ago and they more or less ignored them and drove around like that. They also told me that the lights all came on the morning after a bad thunderstorm in which the tree right next to where the vehicle was parked (within a few feet) was struck by lighting – I couldn’t say that the two are related but seems like it would be a heck of a coincidence if not.

My first thought is to check all the fuses etc, look for any obviously damaged wiring, un plugged connectors, etc.. But after that I’m not sure where to go next and would appreciate any advice anyone has on how to best diagnose these sorts of things. I doubt all of the above sensors/modules are bad and it seems to me more likely that there’s a fuse blown, wire shorted, or one bad part that’s causing everything else to be out of whack, but I’m really not well versed in these sorts of electrical issues. I do have an Innova 5610 scan tool that will access live abs data so if there’s anything to look for there that may help please let me know. Thanks in advance for all the help, it is very greatly appreciated.