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See if you can get the codes read by the port under your steering wheel. P0456 is common and will create the 2 lights you have. P0456 will 99% of the time mean you need a new gas cap. If you can't get the codes read, or even before so, just buy a new gas cap and put it on the car. Very common for RX to need a new gas cap. RX has a complex vapor collection system where those vapors are returned to the gas tank. If there is any loss of vacuum at the cap, you'll get these codes. And believe me, its very easy and common for the caps to fail. Go to your local parts store to get the codes read and buy a new gas cap too. At your miles, its due. Don't just drive around with VSC on. Won't affect performance but it will turn off things like traction control, stability control, and can even dysfunction other safety items like seat belt rapid over tightening which you need if you have a collision.