There are LOTS of possible problems. Whenever there's ANYTHING wrong with the brake/trac/vsc systems, all three of these lights come on.
You can try clearing the codes by parking on a level spot, e-brake off, wheels straight, engine off, and disconnect your battery for 2-3 minutes.
Possibilities:
-sensor problem (there are about 15 different sensors that recalibrate themselves every time the truck is started)
-alignment problem
-brake/ABS system problem (even if the brake light isn't on) check brake & power steering fluid.
You can get a factory service manual (or go to tis.toyota.com and buy a subscription) to troubleshoot yourself, or find a good dealer or competent independent tech.
They MAY tell you that the computers need to be replaced, which will be thousands of dollars. I would try some of the cheaper solutions first.
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