Toyota Repair: abs hub sensor and actuator, abs system, instrument cluster

Question
Sienna 2002 LE. Had brake light come on along with ABS light. Local brake shop repaired and said I need to go to dealership to reset ABS light which was still on, along with the brake light.  Dealer said it was possibly ABS hub sensor malfunction or damage ($700). After replacing it, they now say they have a new code and need to replace the actuator, ($2000 more).  Will this go on forever?  Can't afford such a repair and I am afraid it will not fix whatever is wrong and it will happen again.  Saw others on this site with similar problems that returned.  Can they disconnect the ABS?  Is it unsafe?  Please advise.
Laura

Answer
In order to help with this I would need some more information such as, what did the local repair shop repair/replace, please be specific, I would also need to know the diagnostic trouble codes that are in the ABS system (the new code) that makes the dealer decide that the abs actuator needs to be replaced, as long as the ABS warning light is on the system is inoperative, nothing needs to be disconnected, it's just as safe as cars that don't have ABS except the light will just stay on. The only thing in that case that will turn the light off is to take the bulb out of the instrument cluster.