Okay to drive 4runner with VSC and check engine light on?
When the "Check Engine" light comes on, any number of problems might exist, the simplest of which is the car's computer advising you that your regularly scheduled maintenance is due. If the Vehicle Stability Control icon is lit up, you might want to take your vehicle in to any shop you trust will diagnose the problem appropriately. This safety system is what controls your vehicle's stability when you go into turns or any time the vehicle fails to stay on the straight and narrow path you intend it to be on. If you need explanations for any of the systems that light up on the dash, check your owner manual for the fastest information. If you don't have the owner manual, call any local Toyota dealership, and they can at least identify the icon for you and detail the potential problems and dangers that the icon might indicate. Ultimately, no reputable shop is going to diagnose your problem, potential or otherwise, over the phone, and if they are reputable, they will all tell you to bring the car in for a diagnostic inspection to advise you of what conditions exist and what remedies they will recommend. Any way you look at it, you'll get charged for the diagnostic check which can be deducted or included in the repair price if you choose to have the maintenance/repair performed at that location. Otherwise, the diagnostic inspection will be a stand-alone price which you will have to pay, whether or not you allow the facility to service your vehicle. Since this is one of the safety systems, I would recommend getting the vehicle checked. Better to pay for knowing the cause of that glowing icon and have the option to fix the problem than it is to wish you had done so when you survive the breakdown or accident that that icon is trying to help you avoid.
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