I just bought my 01 last week, but have some thoughts, although I am far from an expert on the issue.
From my understanding, if the engine "throws a code" from everything and anything from a bad o2 sensor to a clogged injector, bad catalytic convertor, whatever........it will disable the DSC/TRAC system, causing all THREE lights to go on (CEL being the other one, as you describe). Not sure why, upon restart, your CEL goes off but the others stay lit.
On my car, the VSC/TRAC lights were on (no CEL) but the car operated fine. My brake fluid was low, and upon topping it off (past the FULL line), it is fine (knock on wood).
There are TONS of things that can make the VSC/TRAC lights go on, from something as simple as the fluid level (you mentioned they filled it, I was told to put it 1/2way between FULL and the top of the reservoir) to one of about a dozen sensors in the TRAC system, the most expensive (and most common?) being the one inside the Brake Booster Assy, at $1000+ cost to repair.
With all the symptoms you describe, I'd take it to the dealer, pay the $95 or whatever they charge to read the codes, and find out what hidden codes are in the TRAC ECU that is causing the fault.....
Ben
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