truffle999

My 2004 RX330 AWD traction control fully engaged while driving straight on a smooth surface, kicking the transmission down, beeping and flashing the skidding icon on the dashboard. This happened repeatedly, but randomly over the past week 2 weeks. I took it to a mechanic to read the codes and it is only registering a bank 2 O2 sensor. I continued to drive it without fixing the O2 sensor at this point and the traction control is no longer fully engaging. However, every time I turn my car on now, my check engine light and VSC light stays illuminated where it didn't before when this whole issue started. Once I excel over 30-40mph, the constant beeping starts from the traction control system, but the transmission continues in the appropriate gear and the traction control light does not come on. Once I reduce speed to 22mph, the beeping stops. The check engine and VSC light stays on the entire time. I even tried keeping the transmission in 2nd gear and getting over 30-40mph and the beeping still came on, so the beeping is apparently triggered by speed. So while the only complaint is the constant beeping at this point, my concern is that the traction control may unexpectedly fully engage while I'm driving at a higher speed and cause serious damage or even an accident. It has $140K miles. Any ideas before I take it to Lexus and spend a fortune?