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My about 2 years ago my 2011 Rav4 6 cylinder suddenly had the check engine, traction control and AWD lights come on for no reason. This also caused the cruise control to not work. After a few days everything returned to normal. A few weeks ago the same thing happened. I pulled the codes and received codes P0037, P0138, & P0607. I cleared the codes but they lights went on and the codes returned after driving a few miles. Other than the cruise control the car drives fine. Could this be some type of computer glitch?
 

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No this isn't a glitch, you have codes in the system which need to be addressed, any time you check engine light comes on it was disable 4WD if equipped and trac control systems will also be disabled this puts the vehicle into a fail safe mode anytime the check engine light appears
 
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