Hello,
We also have a 1999 ES300 with 71,000 miles on it. The VSC light has come on about 3 different times after applying the brakes, once in snow, and the other times in panic stops. It stayed on until we turned off the car for about 5 minutes and restarted it. The last time it did occur, the check engine light also lighted.
Has anyone had the same experience?