Can the C13AF Code shake at 100km/h while braking?

Trouble code (DTC) C13AF on a 2016 Toyota Alphard typically relates to the ABS (Anti-lock Braking System) or the VSC (Vehicle Stability Control) system. So yes, it can make the van shake when stopping.

C13AF - ABS System: High Voltage Malfunction

This is most likely because the ABS control module needs to be replaced. Here is what needs to be done to fix the problem. Check out the images (below). Please let us know what happens.