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Hi, have you scanned the vehicle to see why your check engine light is on? IF no, you need to. Toyota/Lexus computer system illumniates both engine light and VSC lights whenver a fault occurs in either unit. VSC or stability control is like trac-control or ABS braking system. Get car scanned and make sure all computers are scanned for additional codes, repair them first reset lights and test drive. ON a side note, fixing check engine light will usually take VSC light away also, however sometimes the VSC system will glitch out and a Steering Angle relearn is necessary, it takes about 3mins to perform and a good quality scan tool with 2004 current software. Good Luck.
The trac light does NOT come on for the smog test. It has noting to do with the smog test. The trac light DOES come on when the Check Engine light comes on, when a failure is detected. From what I remember, the trac light WILL come on if the smog is a "dyno-driven" smog test, but it has nothing to do with the test, the trac simply comes on because only one wheel is spinning, just like it will when you are spinning on ice.. Hope this helps.
I talked to you on the live chat, and I think that you may have missed the end of my typing...
What I went on to say is that more often than not, on the 02 4Runners, the Check and VSC lights in tandem look mainly after the emission system, and, since you stated no issues during the road test, I would guess that it is a fuel issue (too full/loose gas cap). But, if you can get the vehicle scanned, I will be very glad to provide you with more and better info if you provide me with the DTC codes. That would require your guy or an autozone hookup to a scan tool. I hope my clarification helps; and the graciouness of a FIxYa rating for this question would be greatly appreciated