If it's only abs, vsc and tire, not check engine, these systems are interlinked.VSC is stability control, abs you know, tires as well. Be cautious.These ones you don't want acting up at highway speed
Go to toyota nation.com and search your issue.
If the check engine lite was on I think it is more engine related. I have had check engine and VSC together as a result of a fowled air fuel ratio sensor. I changed the front bank AF on mine and all is well, but I had it decoded to pinpoint the source as there are three sensors on the car, 02 and AF, mine is a lexus RX300 same engine I think, 150,000 miles.
It is not uncommon that the check engine and VSC come on after refuelling if you overfill your tank or fail to ratchet the gas cap closed until it clicks.