Grab a bru, this is a long post but I hope you will benefit from my experience/ mistakes!!!
I had a similar issue "Check VSC" but with code P2757 - I think I have fixed it, taking 3x oil changes (9l of Toyota WS ATF @ £15 p/l), a new SLU solenoid (£250 from Lexus) and 2x shudder fix (£15 from eBay, friction modifier), 2x AT filters and gaskets - the gasket is not reusable and must be changed and you must use sealant to mate the sump with the AT unit. And about 6 hours in total of ramp time (3 hours each time @15ph) - first time a mechanic pal did me a solid.
In line with previous co