VSA lights come on, no CEL.

Most often, a faulty ABS wheel speed sensor can cause all those lights. Worst case scenario: bad VSA modulator (over $1000 just for the part). Sounds like you need to take it in. Just a note: any time the ABS light is on, the ABS system is deactivated. So you'll still have normal brakes, but not ABS for slick road conditions.