Guys, I've been having the same occurrence. Check engine light + VSC
My truck is a 2004 4runner, about 69k miles on it...
I went to the dealership, and paid for the diagnostic check. I've attached a copy of their report. The truck pulled error code: P1056.
When I spoke with shop tech, I was advised to replace the Bank 2 Sensor 2. So I did, check the attached pic. I ordered the part from Partznet.com (conicelli) and I also swapped out the stock battery, since I was also advised that the original had 20% full load capacity. I tossed in a Die-Hard North.
And guess what, the check engine disappeared but I still have the VSC problem.
But here is what I've noticed. When I start the car up, and have it in park, there is no VSC light on. However, as soon as I toss it into reverse, to pull out of the driveway, within 3 seconds, the VSC lights pop on, and stay on.
I don't know what to do at this point. I was reading in TSB BR005-03 that the YAW sensor can easily be reset. Keep in mind that bulletin was for '03 4runners, of a particular VIN batch, with a YAW rate disfunction reading. Any ideas?
:lightsaber::lightsaber: