VSC off & VSC trac Warning Light on 2002 Toyota 4Runner

My vsc off and vsc trac warning lights just came on and don't go off on my 4WD model. I know there is a problem with the active traction control system. Is this a common problem? If so, is there a common fix or certain things to check first?

Asked by for the 2002 Toyota 4Runner
If your check engine light went on as well, it is probably a bad oxygen sensor. It won't hurt the truck to drive without the sensor, just decreases mpg. It is about a $400 fix.