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The "trac" & "VSC" lights lit up and would not go out by disconnecting battery or any other resetting. Check engine light was NOT illuminated. My code reader did not show any codes. Took to Toyota dealer --- they said the YAW sensor checked good, but recommended to replace the YAW sensor anyway. At a cost of over $1100--- I left the dealership about $132 poorer. Went on Amazon and found the YAW sensor for $26.89 - (took two weeks to arrive) Replaced the YAW sensor and the lights acted different but still on. (would be out but when moved car they came back on) Then I took the toaster to a local auto electric shop. The tech told me that there are two layers of codes and a specialized tester is needed to get to the second layer. After he recalibrated the sensor -- lights out, everything back to normal ! Bill was $170
The YAW sensor is located behind the shifter -- after removing the console.
 
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