There have been a couple times when pulling into drive ways. Anyone know what that means? Is it a sensor telling me how close I am to something?

There has been a beeping when pulling into your driveway??? Hmm, that's wierd.

If it was a gravel drive, were you coming in fast and sliding a litte? That vsc beep is the only thing I can think of.

I pulled into next to another car on the driveway. I was half on concrete and half on gravel. I will see if i can reproduce it today

Haha! I think it's because you are taking off your seatbelt, right??? :)

lol maybe, I think i had left it on. maybe someone else in the car took it off.

r you loosing traction ?
cuz the traction control peeps when tires start to slip

It definitely sounds like the VSC:

http://www.scion.com/#xB_features_standardFeatures_safety_vehicleStability