I have been having problems with my check engine, vsc, etc lights also. The first time it was my charcoal canister leaking-replaced that. The second time I believe it was too much oil on my K&N filter that I had recently serviced. It went out after about 1000 miles of driving after I oiled it. But, this is the third time that it has came on now, so I went to Autozone and had them run the OBD II on it. Turns out I have a bad O2 sensor(Bank 1) which means it's before the catalytic convertor. Either that, or the convertor itself. Either way, I'm gonna take it to Toyota this week and get it straightened out. I'll let you know what happens.

*2001 4Runner Limited 4x4 (67K Miles)