Both VSC and ABS lights on!

[nvfool]

Both lights stay on. There are no codes on the OBDII. How do I troubleshoot this?

[IllusionX]

What are you using to read the codes?

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[06YarisRS]

See link below. This is probably your solution. Driver's side rear seems to fail most commonly. OBD2 cannot access brake related data, afaik.

http://www.yarisworld.com/forums/showthread.php?t=61045&highlight=abs