i dont know what those numbers are but i would check the gas cap. i had a problem with mine so i messed with the cap for a minute or two and then just cleared the code and i have been fine so far
I love how everyone's automatic response to any ABS/VSC/TRAC and/or MIL thread is "Its the gas cap!"
Not because its entirely untrue, just that it makes me chuckle to think of how many people forget to tighten their gas cap and/or forget how DTC's are stored/presented on the 4Runners.
Simply put; Toyota does this on their Vans, SUV's, Trucks, and some of the CUV's:
MIL w/ ABS,Trac, VSC lights indicate a DTC stored in the PCM, and/or a fault in the vehicle that affects the emissions as in accordance with OBD-II regulations; anything after that is just Toyota being nice.
ABS/VSC/Trac lights w/o MIl indicate a fault in the ABS/VSC/Trac systems and a code stored in the ABS/VSC module.
The "manual" method of obtaining the ABS codes goes back to the OBD-I days of diagnostics of jumper wires and blinking lights. That being said, the codes are actually "C" codes, the manual method just converts the 4 digit C-codes into 2 digit ABS Fault codes.
Unfortunately I don't have access to TIS since I am at home (IP locked service like ALLData... I will have to find a way to spoof the IP so I can remotely log in to TIS as this gets annoying...) so I can't pull up the code chart for you at the moment. I think you can download the Factory Service Manual from a Sticky on the 4th Gen section.
Edit-
Found a Toyota ABS DTC chart, should be close enough for this application.
http://www.docstoc.com/docs/36351144/DIAGNOSTIC-TROUBLE-CODE-CHART---PDF
Code 32 is a C0205- Left Front Wheel Speed Sensor Signal Malfunction
Code 36 is a C1236- Foreign Matter Is Attached To The Left Front Wheel Speed Sensor Tip
Basically the system is saying there's crap on your wheel speed sensor. Check the tone ring and clean off the tip of the wheel speed sensor and while you're at it check for a leaking CV axle. The grease can sling off onto the tone wheel or sensor and collect ferrous particulates that will mess with the signal.