A generic OBDll scantool will not interpret Manufacterer specific codes like this VSC DTC. You just found this out.
I have also observed this
VSC light come on after a complete F/R brake job along with a complete Brake fluid flush and bleed.
But the VSC light will normally go
off after a ECU-B fuse(removal/reinstall)
reset, or by merely disconnecting the battery much like yu did. The VSC is tied into the ABS actuator and I feel this is where the DTC is tripping.
Try another reset.

Yu may have to bleed the brake system first if the brake hydraulic lines were opened somewhere inadvertantly. Even a fully extended or retracted piston on one of the calipers may introduce the slightest amount of air into the brake lines.
In any event I would always do a flush bleed of the system anyway when doing a major brake job. But flushing every several years is good PM in general. Brake fluid goes bad with time.
If all else fails, yu may have to get Toyota to
Recalibrate and bleed the Actuator to clear this code. Only Toyata has the Scantool for this. But this VSC DTC should not normally happen with a standard brake service. But in any event The ABS Actuator cannot be bled manually.
I have also seen where driving the vehicle and purposely activating the ABS on loose or slippery pavment can
force bleed the Actuator.
Good luck
LT