Fogg197

Hi everyone. 1st time on, not sure if its the right place. I have a 2004 4runner, v6. When i start it everything on the panel looks normal. When i put it in gear abd roll the vsc trac and vsc off lights come on. The check engine light is not on, the abs light is not on, just these two. When i turn the 4runner off and back on the light stays off till i put it in gear again. Ive tried the paper clip method in the diagnostic. I recently had the check engine light on and the vsc lights were on also but toyota said it was because check engine was on. Had the front two cats replaced along w afr sensors the o2 sensors abd the plugs. Anyone know whats causing this and how to fix it?