You recently changed the engine air filter and now, the Check Engine light is on and the LS D light flashing. When you opened the filter housing, you inadvertently disconnected a small hose that is connected to the housing. (See photo) This will result in the lights mentioned coming on. Simply reconnect the hose (it can be simply pushed in) and the engine will perform normally. The Check Engine light will still be on though. The error code will need to be cleared using a dongle that connects to the OBD ll connector under the driver side dashboard and an a smartphone app that connects to the dongle through Bluetooth. 
I just had the same problem with my 2012 RAV-4.
the Check Engine light was on and the AUTO LIMIT SLIP DIFFERENTIAL light flashing. I didn't change the engine air filter but, a small hose was disconnected to the housing as per Peter Hopkins said. This resulted in the lights mentioned coming on. I have reconnected the hose pushed in and still the lightS flashing. I have disconnected and connected the battery terminals and the engine performed normally.
Thank you Peter
You’re welcome
You’ll have to use an OBDII devise to clear the trouble codes from the engine computer for the error lights to go off. You can buy said devise at an auto parts store or on Amazon
Ok. THank you!
Thank you so much. With the picture I could immediately identify that it was this issue and correct it. I'm not mechanically inclined so I'm very grateful for this.
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I just had the same problem on my 2012 RAV-4.The answer how to fix it without dealer involve.
*** the explanation is Toyota Rav-4 firmware has bugs. Faulty software. scanned out fault codes.
*** before bring it to dealer, trying this.
- turn on and off the slippery controller few times.
-scanning the engine error code and reset it.( you can ask this favor work at AutoZone or other Auto part stores.) the error code are not true if there is one!
*** my problem is fixed, back to normal, don't know for how long, but it OK for now. good luck.
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Peter, thank you, thank you. I do not know my way around an engine so the simple explanation and photo you gave was EXTREMELY helpful!
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