Please look at this thread: http://www.clublexus.com/forums/gx-f...lights-on.html
It sounds like there isn't anything wrong with the car. What you referred to as an "Alignment light" is the center diff lock being engaged. When this happens, the VSC is disabled. Simply hit the center diff lock button to turn off the center diff lock and all should be well. Unless the diff lock is stuck, but if you read the linked thread you'll see how to free up a stubborn diff lock.
With that said, $19K is way too much IMHO.