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The VSC uses the brake system to function. So if the regular brake system is not working correctly the VSC will be disabled.
The brake warning light is for the parking brake as well as the hydraulic brake system. So it could be low on brake fluid or something else.
It takes a special reset tool. VSC (Vehicle Stability Control) it's Toyotas' version of anti lock brakes. One of your sensors are either loose, shorted or disconnected and it needs to reset once scan has been done.
Whenever the check engine light comes on the VSC and Traction control will disable because they need the engine at 100% in order to function correctly. Since the ABS light is on I would have to wonder if it isn't an abs problem. Since the VSC and Traction control use the ABS sensors/system to function.
Or there is a problem with both the engine and the ABS.
The only way to know for sure is to have the PCM scanned and the ABS module to see what is goind on.
My sister had a RX300 with the same problem,(VSC--ABS ) there is a hose on the back of the air filter housing that has come loose ,it is in a tight spot ,they plugged the hose back up and the lights were not on,I do not know about the alarm,
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