The check engine light, if steady not flashing, is emission control issue. Could be anything from a lose gas cap to a bad catalytic converter. You can have it scanned at any repair shop, or like the other answer said a parts store. The VSC and TRAC lights come on in your car because Toyota has them turned off when it sees a problem with the engine, so once you fix the check engine light those will go out.
I would also add that your better off to find a good Toyota shop in your area that can work on your car, going to the dealer is not your only choice.
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