[Smoked Oyster]

have not seen a thread that included not able to put the car in drive unless pushing the button next to the gear shifter. I have an '03 4.0L 4runner. The VSC trac, VSC off, and ABS lights are all on. Hooked up a scanner to get the code but since the CEL is not on it doesn't show any errors. The lights came on last fall along with not able to put it in gear and after I made an appt for the dealer everything mysteriously cured itself until yesterday.
Anyone out there have ideas or am I doomed to go to the dealer?