Today, my 04 Highlander started doing weird things, the traction control light came on, and a buzzer started dinging and loss of power. Called the dealer service tech and he said it might be a clogged sensor or something, but bring it in. Called one of my BIL's who works for QA/QC for Toyota USA in Torrance, CA. After a few minutes he calls me back with the Head of QA/QC for Toyota USA on the line as well. He (the big guy) says he's called the local dealer and to expect my car this afternoon and perform TSB WXYZ which is a zero calibration of some traction control sensor for that model year and please report back to him, the big guy and whether or not that was the issue. I don't think I'm going to have to pay for this issue. Not bad on a car with 75K on the clock and out of warranty.
Sometimes an in-law can be a help.