Both of these seem to point to the same issue and the likely culprit:
Troubleshooting for 81is the same as 66
VSA DTC Troubleshooting: 81-1
DTC 81:
Modulator-Control Unit Internal Circuit Malfunction
VSA DTC Troubleshooting: 66-1
DTC 66:
Pressure Sensor Malfunction
NOTE:
- Before you troubleshoot, check the brake pedal height, free play, and brake pedal position switch adjustment
1. Turn the ignition switch to ON (II).
2. Clear the DTC with the HDS.
3. Turn the ignition switch to LOCK (0).
4. Test-drive the vehicle at 19 mph (30 km/h) or more.
NOTE: Drive the vehicle on the road, not on a lift.
5. Check for DTCs with the HDS.
Is DTC 66 indicated?
YES -
Go to step 6.
NO -
Intermittent failure, the system is OK at this time. Refer to intermittent failures troubleshooting.
6. Update the VSA modulator-control unit if it does not have the latest software
7. Turn the ignition switch to LOCK (0).
8. Test-drive the vehicle at 19 mph (30 km/h) or more.
NOTE: Drive the vehicle on the road, not on a lift.
9. Check for DTCs with the HDS.
Is DTC 66 indicated?
YES -
Check for loose terminals in the VSA modulator-control unit 32P connector. If the VSA modulator-control unit was updated and the symptom/indication is still present, replace the VSA modulator-control unit
NO -
If the VSA modulator-control unit was updated, troubleshooting is complete. If any other DTCs are indicated, go to the indicated DTCs troubleshooting.