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2005 Lexus Rx330 Abs Vsc Light On

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My car's brake lights at both left & right sides are off while the top one(3rd) is on.

I thought it's light bulb problem and open it up to check wire first. I opened the right side one first. after pulling out the socket & test it with voltage DC meter, the 3rd light went off too, and at the same time, both ABS and VSC lights are on TOO. However, check engine light isn't on.

what's happening?

should I disconnect the negative power before checking? the manual said once disconnecting, it needs resetting a lot of systems, like lighting system, power windows constrol system, etc. Is it true and always necessary? Do I need to buy a code scanner to do this? how much does the dealer usually charge for identify and/or fix the problem? Is it still under the warranty?

thanks for reply in advance.

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