Re: Check Engine, VSC, 4WD lights are on.
The VSC and 4wd lights are just on because the CEL is on. You car is basically in a limp home/ lowest denominator mode. You'll have to go to an Autozone/checker/pepboys/advance auto/kragen or whatever and get the CEL code read, before anyone here will be able to help you with this. They usually do this for free. The dealer will probably charge a 75 dollar diagnostic fee.
Your powertrain is longer than 3/36, but if this is caused by your driving the car (likely) the warranty isn't going to cover it no matter what you hit. As in, you hit a rock/curb/snowbank/stump and it damages something on your car, than that is not a warranty item. The warranty only covers defective parts and workmanship.
Best of luck with this, let us know. FYI, I thought someone around here, or ToyotaNation, was making a skidplate for that item. Kinda lost track, bought a used Highlander.
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