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Try resetting "CHECK VSC" light by disconnecting the negative battery cable for a few minutes, and then reconnect. Often time, this will resolve your problem.
But if the "CHECK VSC" light comes back later, use a OBDII scanner to retrieve the DTC (Diagnostic Trouble Code).
Here's what the Owner's Manual says about the "CHECK VSC" light.
From memory, isn't this warning very generic, meaning yes it indicates stability is off, but it turns on with a check engine as well? I mean I've seen stuff on YuoTube stating the ol' gas cap causing check engine, causes this too? I don't understand the logic, but it's what I've come across having never gotten the warning. On a BMW it would be very serious, i.e often wheel sensor or the entire ABS system, but that doesn't seem to be the case at all with Toyota...(meaning normally the stability control doesn't arbitrarily disable itself on a German car)...