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VSC/TRAC light & engine light on & steerling wheel locked up driving this mornin on 2011 Toyota Camry

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Had my oil changed and tires rotated Tuesday. Shortly thereafter, check engine light came on as well as VSC/Trac light. Ode day later, I was making a right-hand turn and my steering wheel began to lock up on me. I pulled over, turned the ignition off, waited a few seconds, and restarted. Seems to drive fine now but lights are still on and I'm concerned it could lock up again at any time.
(1) Answer
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have all those systems scanned for codes and post so we can adv. its still under warranty so i would visit the dealer and not mention the rotation and see what they say
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