I have a 2009 F150 5.4 4X4 King Ranch
The following indicator lamps have illuminated have on my dash; the parking brake, the ABS, & the anti sway. This warning appeared at the same time (Check Brake System Warning ).
Everything works except the Anti Lock Brakes. I have the following codes B1596 & B1342.Using the correct OBD Scan Tool, I am able to reset the codes. Then using the scan tool, I can bleed the brakes

 

I would repost in the 2009-2014 F150 forum

 

All of those items use common equipment. Get the truck to someone capable of diagnosing the system. It likely has nothing to do with bleeding the brakes, unless there is a leak.