TyroneVeron here (the taxi guy) is spot on how to clear the VSC+check-engine warning (limp mode) on my Lexus LS220 diesel .
I topped up with premium diesel fuel then added the Injector Cleaner (450ml bottle), also added fresh oil to engine as was tad low.
I then used a full tin of EGR cleaning spray (cost me £10 from local car-store) directly into air-intake. Ran the car high revs
for about 5 miles, really rev'd it to clean out injectors, the fault then miraculously disappeared and the car runs a treat.
No ODB2 reset required. Total cost about £25 on fluids. I reckon I saved a wallet full by NOT going to Lexus Dealership.
Unrelated fault but I had to put in new guide-pins on brake calipers, garage job really unless your well experienced mechanic, symptom is sticking or clunky braking, check if wheel gets very hot on one side!