I have a 2014 RAV4 awd and for the past year the vsc, brake and awd warning lights come on for a few minutes while driving. I initially thought it was maybe a loose gas cap, but that's not case. It usually occurs when I have to transition to a stupid slow speed (ex. trying to merge onto a bridge or when 2 lanes merge into one). The problem is, since it only lasts between 1-5 minutes, whenever I'm at the dealer, of course, the lights aren't on. The code reader then doesn't see anything wrong. They even took it out for a test drive and it didn't occur. I'm worried that they won't find an issue until after the warranty expires and I get stuck with a huge bill. Could it be a bad speed sensor? (not that I know anything about cars, but it seems speed related). Is there something the dealership can easily identify without relying on the code reader?