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I had check engine light and TRAC OFF. OBD-II MIL code was P1133 which is Air Fuel Ratio Sensor Response Malfunction and scanned by AutoZone. After disconnecting the battery for 10-15 minutes, the lights went off. I cleaned the gas cap and tightened it firmly. For the last 400 miles, the lights have not come back. When scanning using Snap-on one, no code was detected. I think gas cap was the reason for the lights.
This happened to me as well, just a few weeks after buying our 1999 ES300. Took it into Lexus for regular maintenance and to check this out. Apparently, if you don't replace the gas cap correctly and tight enough this can cause the 'trac off' light to come one. It will go off a little while after the cap has been replaced correctly. This also happened with my 2006 Murano, 'check engine soon' message.