Hi, I've just had this problem too - the VSC and TRC off lights are on with the engine management one (looking like the sump of an engine) which appeared a week after my 40k service!!
The solution? They need to change the Catalytic converter and Toyota have instructed that if they change this, they must fit a new engine too!
MINE IS COVERED BY THE WARRANTY so will cost me nothing - I'm just a bit annoyed that they're quoting 6 weeks for the engine to arrive (perhaps the tsunami has hindered them?) and I have to have a *rappy Ford Focus or Vauxhall Astra for the duration - but it's at their cost.
My car is a 56 plate. If yours is as young then you shouldn't be paying so much - but you haven't mentioned the 3 warning lights - it's a new fault they're keeping quiet as there are 3 others in the shop for the same thing at the moment.
I hope this helps you but if anyone has the 3 warning lights up, don't leave it if your warranty is due to expire!!!
Kim
August 2011