Steering warning and slip indicator light on

[MoMaxx54]

I was just driving home from work in my 2019 4Runner. Took the same route, it was a completely normal commute, but suddenly the steering warning light popped up on the dash. Shortly after, the slip indicator light also came on and has stayed on, not even flashing. No strange noises, no change in how the steering feels, no bumps or anything I hit. Also no other lights, no weird smells so everything else seems to be fine. I've only got almost 70k miles on it. I'm lucky I was near my house and still got to park it. I tried turning the car off and on a few times, but both lights are still on. Anyone experience this before or have any ideas what might be causing both of these to light up simultaneously? What should I be checking first, or does this require a trip to the dealer? Hoping to get this figured out soon as this is also my daily driver. Thanks for any help!

 

[Meowzer]

@MoMaxx54 sounds like a faulty wheel speed sensor or an issue with the ABS/VSC system.
Those two lights often illuminate together when the VSC system isn't getting accurate data from one of the wheel sensors or if there's an issue with the steering angle sensor.
Since the steering feels normal, it's less likely to be a major mechanical steering component.
Your first step should really be to get the DTC scanned from the OBD II port. Any auto parts store can do it for free, or if you have your own scanner, pull the codes. That will tell you exactly which sensor or system is flagging the error

 

[LoadTerrible83]

First thing I'd check is the battery sincelow voltage can trigger random warnings. If that's fine, an OBD2 scan might help narrow it down before heading to the dealer. Some resolved this by resetting the system with a zero-point calibration