2010 Subaru Outback cranks but no fire

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My 2010 Subaru Outback 2.5 4 cylinder has started to show signs of cranking but not firing. Car has 111,000 miles with new plugs less than one year old. I hooked up my OBD reader and am getting 5 error codes.

Body Integrated Module Code:
1) U1201 CAN-HS Counter Abnormal
Anti Lock Braking System (VDC) Codes:
2) U0110 Lost Communication with Drive Motor Control Module "A"
3) U0111 Lost Communication with Battery Energy Control Module "A"
4) U0141 Lost Communication with Body Control Module "A"
5) C0057 ISO/SAE Reserved (?? unknown code)

I don't feel that the fuel pump, filter or relay are the issue here. I can hear the fuel pump fire up when turning the ignition on.

Sometimes waiting a few minutes will allow the car to start. Sometimes disconnecting the battery terminal wires will allow the car to start.

Based on the codes and what I can physically observe when starting I am starting to think that this might be bad leads or wiring somewhere in the electrical system. Perhaps in the engine control module or other systems? Although I am unsure how the ABS error codes would play into the ignition issues. Any thoughts?
 

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