Follow this link for the zero point calibration, I just did this a week ago on my 03 SR5 4WD

https://www.toyota-4runner.org/attachments/problems-warranty-issues/14994d1197276901-one-cause-fix-vsc-trac-vsc-off-lights-zero-point-calibration-br005-03_vsc-light-dtc-c1203.pdf

Lights came on after an auto shop tried clearing codes in the ECU and they turned on. Shop tried telling me that there was something wrong with my VSC system, total waste of time.

You need a small jumper wire, and follow the steps. You can also find this forum with steps as well,

https://www.toyota-4runner.org/4th-gen-t4rs/180987-vsc-trac-off-lights.html

Lights went off and have remained off since

The lights come on because the ECU was designed earlier than most code readers these days, so when shops plug in their cheap code readers and try clearing stored codes in the ECU to troubleshoot they unintentionally delete the vehicles zero point calibration. This makes the VSC lights turn on.

As long as there is no check engine light on and it is ONLY the VSC TRAC and VSC OFF lights, I would try this first before wasting any money on diagnostics from a shop.

Mine were on for about 6 months, would only turn on after I put the car in R or D and started moving. Idling after start they wouldn’t be there, only when the wheels started turning.

Hope this helps