Ok, so if I start my car and go in reverse, my VSC ABS and TRAC OFF lights come on. If I start the car and just drive forward, the lights don't come on.

Any ideas? Is there reverse light sensors or something if a reverse light goes out?

 

Sounds like a wiring short in your reverse lights. Did you just put LED tails in? I know a lot of people have a similar problem with LED tails. Other then that might be a short in the wiring somewhere. Did you add anything new recently?

 

nope, had my LED tails for 2 years. just checked my reverse light n its out. is that the problem??????? does the scion computer read something small like that??

 

That could certainly be the problem. With the LED tails, when a bulb goes out, it could send a short... try replacing the light and see if it does it.