As others have said, I'm 90% sure your 12V has gone bad. I had this happen to me a few weeks ago at a sporting event after running on accessory mode for maybe 15 minutes. Fortunately, I had my NOCO jump pack in the LC, easy startup...but it did throw the same warnings you're experiencing (check engine, see dealer, no cruise control, etc...). I later learned from the service manager that this is all normal following a battery jump. My 12V failed the load test, they replaced it under warranty with a different Toyota-branded battery, reset all the codes, and so far, so good. In fact, as
@EOD Guy said earlier, things seem to be working better (less wonky) than they have for the past several months. So I was probably on a slow steady decline and wasn't even aware... until it pooped itself. Your dealer should get you sorted in no time...a few hours max.