Hi,
Seems your post also shows up in the Corolla forum.
You really next a code read that can do ABS errors, a lot of the cheaper reads do not.
These pics from a Corolla might give you something to work with.
Hi, hope you like your new Auris Hybrid.
I’m not sure about the beeping. Do you have front parking sensors as they can sometime beep if you get too close to the car in front when starting off?
The grinding you mentioned is normal. It is not particularly bad though it is rougher when compared to a normal car.
Hi Dom, welcome to TOC
This sounds like a major failure to me so in my opinion (but I am not an expert) I wouldn't move it but get it recovered to a Toyota dealer. Hopefully it is still under manufacturer's warranty.
P.S. it would probably help to know what engine, how many miles/km on it & when last serviced.