Check Engine & VSC Lights - 2007 RX 350 - HELP!!

[Shelbyman]

I recently purchased a 2007 Lexus RX 350 87k, well maintained from a 94 year old. The cars will not pass NYS Inspection due to annoying Check Engine & VSC lights on the dash. I spoke to a couple mechanics as well as researched on the web and here's what I've done thus far.

I've changed the engine & cabin filters, replaced the gas cap and unhooked the battery cable and let the RX 350 sit for 30 minutes. I reconnected the battery cable and after 10 miles for driving the Check Engine & VSC lights came back on.

I've taken the car to two different local garages who performed diagnostics on the care and the 5 codes indicated it may have an issue with an ignition coil but the car idles, runs and drives perfectly smooth like new. The other 4 codes relate to the traction control and ABS that point toward the Steering Angle Sensor potentially being bad. At this point, I'm not enthusiastic about bringing the car into a Lexus dealer and investing $2-300 to find out what the issue MAY be and I'd rather not continue to replace random parts hoping to address the actual problem, which is why I'm posting here.

Has anyone encountered these issues and have any suggestions?

[zieke]

Your car is getting close to needing the coils and plugs (100k) replaced, per the owner's manual. Front ones easy and back ones harder. Your engine only needs to miss a very few times to trigger the light so you may not notice it. I would start there, and do not buy the cheap coils unless you want to do the job a second time. Sensors do get dirty so that is also worth checking.

[Shelbyman]

Additional info for the mechanics out there....here's the diagnostic details on the 2007 RX 350.  Does this mean all components should be replaced or do some of the codes point to 1-2 parts I should start changing out??