I found this http://www.rav4world.com/forums/99-...sc-abs-4wd-brake-lights-no-ce-no-codes-4.html
post very help when my wife's 2010 Rav4 showed ABS VSC and 4WD warning lights.
I used the 4-13 jumper method and focused on the ABS error code since the other errors were due to ABS malfunction. The code was 95, which worked out to "Lost Communication with Lateral Acceleration Sensor Module" or the Yaw sensor, which is located under the left front (driver) seat.
I removed the seat and pulled the carpet back. It was obvious a mouse had made a home there. As the photos show, it was gnawed through the wiring.
Rav4 Yaw Sensor Repair - Album on Imgur
At least a problem I could fix! The only thing was there were two blue wires. What idiot thought this was a good idea? I noted one white/striped wire was tied with a blue wire, and subsequent investigation confirmed these were the CAN bus wires and the other blue wire was IGN power.
I repaired the chewed up wires, put everything back together and the error codes were gone.
I figured I'd post this repair in case anybody has a similar issue in the future.