I have the classic VSC, ABS, etc lights on my cluster. I scanned it with my scanner and it comes up with C0200, and C1223. Front right speed sensor.
I took a quick look at the wire, no issues. I unplugged the sensor cable and cleaned the connection, didn't work. Should I just go get a new sensor or are there common issues I should look for first?
Thanks!!

Just went thru this myself last fall. I replaced the front brakes and calipers and discovered its pretty easy to stretch out the skid control wires and damage them internally when jacking up the vehicle and letting the front suspension hang unsupported.
The sensor itself is nothing much more than a magnet, but they do go bad sometimes. I would check the sensor and then the wire with a meter.
I ended up getting genuine toyota wires from amazon for a good price. You can also find aftermarket sensors on amazon that are a lot cheaper than genuine toyota and have good reviews for working correctly.
Just yesterday i ended replacing the rear skid control wire as well. That one actually rotted out where it turns up from the axle. 14 years and 220k of road grime finally did it in.

Check continuity in the harness. Odds are the wires separated, for some reason the OEM wiring is really low quality there. I was careful with mine, and it still broke. Here's how I fixed it: Unevolved's Build Thread

Thank you so much!!! That is my afternoon perfect. I will let you know how it works!!

Protect....

Hahaha! Project! Stupid auto correct.