Why is my check engine light and vcs tracking light on? on 2006 Toyota 4Runner

for the second time in one year, my check engine light, vcs tracking light, and my "skidding car" graphic has come on my dash board . The last time this happened, my transmission went out right afterwards, and the Toyota dealer replaced my transmission because of of a "bad cilinoid". Now that the light is on again , I am afraid I have bought a lemon. We bought this car used two years ago, and the transmission, which was then under warranty, was replaced about 4 months ago. Your advise?

Asked by for the 2006 Toyota 4Runner
scan codes in modules and post codes so we can adv
Ok, thanks, we're taking it to the dealer this afternoon for a computer scan
what was the result ?