On my 2007 Toyota 4Runner, the 4 warning lights related to the VSC/ABS/Traction Control features come on and stay on when the car is started. If I move the car about 10 feet and then turn it off and back on, the lights will go out. Sometimes I have to do this a second time.

Has anyone else seen this problem?
If so, how bad was it to fix?

Wild guess, but costs nothing. See if your brake fluid is borderline low. Similar happened on my Corvette once.

Maybe just needs a re-calibration. Here's a video of how to do this.

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2007 Toyota 4Runner, the 4 warning lights related to the VSC/ABS/Traction Control

Go to Toyot4runner.org. There are numerous threads about this. That site is great for diagnosing 4runner issues.

Perhaps a wheel speed sensor?

Those particular idiot lights can come on for a variety of reasons. Low brake fluid, as mentioned, can do it. There’s a sensor attached to the brake pedal that can also cause it...really could be several things. Might be very minor.

Mine have been on for years on my 2003 4Runner with 267k 4.7L V8

I had a similar issue on a 4Runner. ABS, vcs, trac and engine light came on. Had to replace yaw rate sensor.
From my understanding it is a common issue with early 2000s 4Runner and Sequoias.

Downstream O2 sensor if I recall correctly.

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Originally posted by MattW:
Downstream O2 sensor if I recall correctly.

Has nothing to do with this issue. The downstream O2 sensor is simply to monitor catalytic efficiency, and will set an emissions code and a check engine light.

Check to see if there are any codes, this will give you a direction to go. You will need a scanner that can retrieve ABS codes.

any updates?

Here are 2 links that might be worth looking at from t4r.org
Link 1

Link 2

Seems that you may have some faulty wheel speed sensors like Balze suggested.

My buddy pulled the codes and it showed a wheel speed sensor error.

We put it up on the rack to take a look and the wire on the front left wheel speed sensor had popped out of the clips and was laying on the hub. He said that induction could be inducing some false signals. We put it back in the clip and cleared the codes.

It's been about 3 weeks and, knock on wood, the problem has not come back.