Sorry I didn't put year. I have a 99 ES300. Oddly enough the Check Engine, VSC and VSC OFF lights all come on at the same time. (More details about this below the update)
****UPDATE****
Went to Auto Zone and here is the Code that they came back with...
Troubleshooting Code: PO171
OEM Brand: Domestic
Definition - Fuel trim bank one condition
Explanation - The powertrain control module uses the oxygen sensor to calculate air/fuel ratio of the engine. The computer has recognized a rich or lean condition on one engine bank only.
Probably causes...
1. If bank one and two codes set together suspect fuel pressure or MAF (Mass Air Flow) Sensor
2. Oxygen sensor defective
3. Ignition misfire - repair
4. Fuel Injector problem
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Maybe this will help explain a little more so someone can help me diagnose correctly the first try!
Before I replaced the battery terminals I had a bad connection that made me have to go and jiggle the terminals every once and a while to get them to connect and get juice flowing again. Every time that happened it reset the Check Engine light. So when I would get on the road again and hit the interstate and accel quickly, the first thing that would happen is my VSC and VSC OFF lights would come on. Then I would reach my destination and turn the car off. The next time I drove it, without fail, if I had to accelerate again, the Check Engine light comes on with the VSC and VSC OFF lights.