Corolla 2010 has Check engine light on, Tracking light on, and VCS flashing, scan only shows P0138 code. Replaced sensor at bank 2 sensor (Denso) but it did not fix, even the code is still come back.

Replace the sensor with a genuine OEM Denso.

https://www.google.com/search?q=2009+TOYOTA+COROLLA%2C+O2+Bank+1+Sensor+2

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BANK 1 Is On Same Side As Cylinder 1---Therefore Bank 2 Is The Other Side--Sensor 1 Is Top Sensor (close to engine) YES--Can Cause To Run Rich And Random Misfire. So Can A Injector. You Probably Should Have It Scanned (in data stream) To Check Function--If It Is Bad, It Will Show. DO NOT REPLACE WITH UNIVERSAL O2 SENSOR.

sounds like you have to replace oxygen sensor on bank 1

Solved. I have 2008 Sienna with Check Engine and VSC lights on. Scanned codes were P0051 and P2197. Oxygen Sensor Bank 2 Sensor 1 needs to be replaced. You can see this sensor on the right side of the engine when you open up the hood. You need to get an Oxygen Sensor socket (I used Tekton 7/8in 22mm which costs $9) and a wrench extension to reach it. Spraying liquid wrench a few times on the base of the old sensor also helped to loose it. The replacement sensor I used was Denso 234-9049 which costs $85 from eBay. Lights went off after the sensor was replaced. It took me 30 minutes to replace.

Hi, guys. you can read this article first. Why check engine light is on. Maybe it is able to help you. Good luck.

Hi Larry:
DTC P0138 - O2 Oxygen Sensor Circuit High Voltage (Bank1, Sensor2)
The Heated Oxygen Sensor (2) located rear of catalytic converter produces an output signal relative to oxygen storage capacity of catalytic converter. Ho2S 2 signal is less active than signal produced by front oxygen sensor. This code sets when HO2 Sensor voltage is greater than 999 mV for more than 2 minutes (time depends on model. Could be as high as 4 minutes)

There may be no noticeable symptoms except for MIL illumination. Possible high fuel pressure can over rich the system.

A code P0138 may mean that one or more of the following has happened:
Faulty O2 sensor
Short to battery voltage in O2 sensor signal circuit
High fuel pressure (not as likely)

Here are some potential solutions:
Replace O2 sensor
Repair short to battery voltage in o2 sensor signal circuit

Check it; hope this helps; also keep in mind that your feedback is important and I`ll appreciate your time and consideration if you leave some testimonial comment about this answer.

Thank you for using FixYa, have a nice day.

P0135 is 02 heater circuit ( Bank 1, sensor 1 ). P0138 is 02 circuit high voltage ( Bank 1, sensor 2). It is a good idea to replace all 4, 02 sensors at the same time, otherwise the 2 new 02 sensors on bank #1 will be transmitting Data back to the computer at a faster rate then the old ones on bank #2 And this could cause other problems. Remember to have the codes cleared from the computer after all repairs are finished. If you do not the computer will keep turning on the check engine light.
-also that way if the light ever comes on again you already know it will be for something new.Good Luck and have a good XMASS.

P0138 is code for o2 sensor Bank 1 Sensor 2. This sensor is the one behind the cat on the side of the engine that contains cylinder No 1.

You said you changed the O2 sensors, which ones? I do believe that sensor 2 is the Catalyst efficiency monitor, it looks like an O2 but it's function is different. This sensor is behind the Catalytic converter, the O2 is in front. Bank one is the bank that # 1 cylinder is on, so the sensor that is defective is the 2nd sensor back on that sides exhaust pipe.

P0141 - Heated Oxygen Sensor (HO2S) Heater Performance Bank 1 Sensor 2

P0138 - Heated Oxygen Sensor (HO2S) Circuit High Voltage Bank 1 Sensor 2

dont know lots about this witout engine size but some have 1 coil per cylender possible coil is bad or plug 02 sensor will cause some problems but a miss fire will cause it to run like trash