Update: So, after the two upstream O2 sensors were replaced, I was still getting the error codes. I did the zero point callibration with no change. Then I did a complete battery disconnect, let it sit for 10 minutes with the headlights on to drain the circuits and reconnected. Everything gone! I was excited until after 200 miles, the check engine, VSC and Track off lights returned.

I pulled out my cheap scanner and I got the P0174: system too lean for bank 2, P0171: system too lean bank 1 and another P0174 system too lean Bank 2. I don't know what to do. Vacuum leak test passed according to scanner. The new O2 sensors are Denso.
As an aside, anyone recommend a user friendly, resonably priced scanner that would help diagnose the problem? Thx.