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Flybynight
I had a very similar situation. Driving (on road too) normally one day and all the lights come on, TRAC/VSC/etc.. group and the BRAKE light, and the airbag light, and the speedo died.
For the airbag light, I thought it was the clock spring and I changed it TWICE to no avail. For the TRAC/VSC/Brake combo I thought I had a bad caliper and speed sensor in the rear (per the codes that were pulled). I ended up just taking it into the shop for some other work I had scheduled and mentioned this to them to look at it.
TRAC/VSC/etc and BRAKE solution: my rear ABS wires literally decayed and just fell apart, so replacing those with OEM and a bleed on the rear calipers fixed the BRAKE and TRAC/VSC/etc.. lights.
Airbag Light Solution: The shop (which is highly trusted in our area and is a Toyota specialist) found that a common problem for the airbag light is a bad connection on some of the wire connectors. He said the light went off after he found the related airbag connector underneath the passenger seat, looked to make sure its still good and added electrical conductor spray/grease, plugged it back in and fixed!
I hope some of this information helps. Mostly wanted to share the airbag trick as I’ve never seen that mentioned on here before, even when I was searching about it to fix it myself.
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