Probably.

The Brake Fluid warning is probably not related to the ABS and ASC, but
should not be ignored. The ABS and ASC are controlled by speed sensors, and
if the speed sensors are not working, the Cruise won't work either because
it uses the same speed sensors.

Since the ASC is looking at speed sensors on the rear wheels only, then my
guess is that you only need to look at the rear axle to solve your problems.
The speed sensors are physically located out at the hubs where the brakes
are. They are each held in by a single bolt, and have a wire that goes to a
connection point that is near the centerline of the car. You may find
physical damage to the wires leading to a sensor, and this will be a dead
give away as to the problem, but the sensor itself can fail internally, and
this is more difficult to diagnose. The car's data port should be able to
tell which sensor is not working.