P0031- Air Fuel Ratio Sensor Heater Control Circuit Low (Bank 1 Sensor 1)
C1201- Engine Control System Malfunction (This is the DTC that shuts off VSC & TRAC when the MIL is turned on.)
C1340- Open Center Differential Lock Signal Circuit (During Center Differential Lock On)
B2799- Engine Immobilizer System Malfunction
The P0031 indicates an issue with the AFR Circuit (or the sensor itself) on Bank 1, Sensor 1 and could be as simple as a bad sensor. The C1201 is a code set by Toyota's programming that shuts off VSC & TRAC functionality, basically whenever a DTC is set that turns on the MIL (as per OBDII requirements) this code is set and disables the VSC & TRAC systems and turns on the lights on the dash (in other words, don't worry about this DTC, once you correct the P0031 it will erase along with the ODBII DTC.) The C1340 is an interesting DTC, I just dealt with this in a non-4WD vehicle; but basically since your vehicle is a 4WD (I am assuming) the diagnostic approach will be different as there may be an issue with the circuit running from the ABS, transfercase, and/or 4WD module. The B2799 is an immobilizer error code set by a mismatch of data sent between the ECM and the Immobilizer module.
Were you by any chance able to get a break down which DTCs if any were "Current" or "History"? I'm somewhat surprised that Autozone had a scantool that pulled the C & B DTCS out of the vehicle as they typically just use code readers that only pull OBDII related DTCs from the ECM only.