2025 Toyota Prius Brakes Problems

I started hearing a scratching/rubbing noise from the brake, and feeling the scratching/rubbing through the brake pedal, making it difficult to push down. I almost crashed in the ally into my garage, but the emergency braking took over and stopped the car very suddenly, snapping my neck a bit, and it is still sore as of me writing this report. Since then brake pedal makes scratching/dry rubbing noise with heavy rubbing and grabbing feel through pedal. It only happens at 20mph or below during quick stops (not smooth stop, press pedal quickly), at 15-25% pedal position. When holding pedal at that position while moving, rubbing/grabbing through the pedal feels rhythmic like it's related to wheel rotation. If car is creeping in Neutral or Drive (no gas pedal pressed), and you lightly press the pedal, you can hear and feel like something is grabbing/releasing/grabbing/releasing. Sometimes it the brake pedal resists and there is a very loud rubbing or grinding noise, and I have to press the pedal very hard. This can also be replicated when the car in in Park. Lightly pressing on the brake pedal causes the braking pump to make a whirring sound to build pressure (this is normal), but at the end there is a scratching sound and grinding feeling in the pedal. I took it to the dealer 3 days after purchasing it on June 25th, 2025 and the assistant service manager reproduced the issue in front of me, and thought it was the brake actuator going bad or something with ABS. However, the master tech at the dealer just drove it around, DID NOT CHECK ANY COMPONENTS except the thickness of the brake pads, and declared everything fine. I fear for my safety in this car. If I am involved in an accident, it will be because the braking system failed in this car and the dealer refused to fix it.