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Just an fyi for everyone who gets a CEL, VSA and VSA Off light at the same time:
Got this diagnosed at the dealership and they said O2 sensor heater circuit malfunction, replaced O2 sensor bank 2 sensor 2, part number 89465-50130.
I did not get any driving symptoms for my morning drive to work even after the part failed, but I feel like my fuel efficiency dropped like a stone for that part of my commute.