VSC, TRAC OFF, ABS, and parking brake lights all on(no check engine light)4th gen

So I drive a 2003 V8 2WD limited. All 4 of my lights came on at the same time a while back. (VSC, TRAC, ABS, BRAKE). I went to check the speed sensors, and found that some gear oil had been leaking all over the drivers rear brake. I took it in to get an inspection, and of course they give me 5,500 worth of repairs, but at least I was able to pin point the most likely issue for my brake lights among the long list of problems… it seemed that the axle seal had worn out and had been leaking. They said that I need a new axle seal, bearing, and I figured I would need a new speed sensor. Now I’m not huge into fixing cars, but I decided I wanted to fix it myself to save some money, and learn a little. After I saw some videos on how to do axle seal and bearing, it didn’t seem too bad to do the axle seal, but I needed a ton of special tools for the bearing, and after basic self diagnostics, it didn’t seem like the bearing had any play, and it honestly seemed like it was still in good condition. (Plus With the amount of tools I was going to have to get to do the bearing, it was gonna cost around the same to have the shop do it lol). So I replaced the axle seal, and speed sensor and cleaned a tonnnn with brake cleaner. So at least that is fixed now, no leaking going on there, but I still got the lights on. I cleared them with a code reader and also I cleared it another time with the paper clip trick I found on YouTube, but all the lights are still on. So my question is could it still be on because I didn’t replace the bearing also? (Even though it seemed to be totally fine and had no play)
Or is there some other issue I could be missing? ❔❓

… honestly at this point I think I’m just going to drive with them on because everything seems to be fine, and If it is the bearing I’ll just drive till it actually does start humming or has play and NEEDS to be fixed.
But I would rather fix it if there is anything else I could be missing… I just have the sense if I bring it in to Toyota or a shop, it’s going to be a long expensive game of guess and check…
(Also I when I run diagnostics, the only error that comes up is B2221, back door jam protection sensor)


***UPDATE***
Problem Solved
I found that the rear passenger wheel sensor had a bunch of gunk on in, so I took the axle out, and the bearing had fallen apart, and basically the speed sensor was getting coated in bearing grease. Put a new axle bearing assembly kit on and all the lights are off now!

the bearing/axle assembly was about $415 after tax on Amazon. I could’ve just done the bearing, but I didn’t want to go through the trouble of getting the old one off and finding/buying a bearing press. It looked like quite the process on the YouTube videos, so I probably spent like $200 extra, but I would honestly recommend it(unless you have a bearing press/all the tools, I just had a socket set) because it made it wayyy easier.

 

Back when I had my 2006 4Runner, I had the same issue. Toyota sent out around recall for the brake light switch that was good for a limited time. This fixed the issue.

Try turning it on without touching the brake. Then press the brake pedal to see if the lights come on. If so, replace the brake light switch.

 

@Dakotafisher This may seem an odd question given your symptoms, but bear with me. Do you happen to run aftermarket LED headlights? There’s a known issue where LED bulbs with cooling fans can cause transient ground faults in the ABS system, which causes those lights to come on. There’s a Toyota service bulletin for 5th Gens but it has happened on 4th Gens too (mine included).

 

So I reset the computer again to see when the lights come on. So no lights right when I start the car. As long as it’s not moving I don’t get lights, it can be in drive with my foot on the brake or moving the steering wheel, and I can drive for about 5 min if I’m babying the car, and keeping it around 25mph or less. If I drive any faster/turn harder it pretty much comes on right away(all 4 lights at the same time). Then they’re on for good, even when I start my car again, until I do another reset on the OBD. I tried this like 5 times to be sure.

@TrueTexas the brake lights seem to be working fine, I checked them all, and it doesn’t make a difference whether or not I start the car with the brake on. Do you think this could still be a cause?
And @Bluesky 07 i am still running the original halogen bulbs I believe. They’re not LED, plus i checked and it doesn’t look like there’s any cooling fan on the bulbs.

 

Weird.

 

With the symptoms listed, it sounds like you may have an ABS/Wheel speed sensor going bad!

 

Ok well… I think I found the problem. I had some extra speed sensors and I went to replace the rear passenger, and pulled it out, and it was completely gunked up with gear oil, so I guess the seal on my passenger side axle was busted too, just hasn’t started leaking out of the hub yet… so I’ll have to get that fixed, and cleaned and hopefully it fixes the lights!
Thanks for the responses.