TROUBLE LIGHTS ON; VCS OFF, BRAKE LIGHT, ABS, TSC

#1
I have a 2009 Toyota corolla with 60,000 miles on it. My ABS, TSC, brake light, and VCS OFF light keep coming on. I will be sitting at a light, just in mid drive, or going over a bump. The lights never turn on when I first start my car. The lights will be go on for a total of 2 minutes or the remainder of the time I'm driving. Sometimes they don't go off at all while I'm in the car. I take care of my car and complete all the scheduled maintenance. Also my car does not seem to be driving any differently when the lights are on or off. I thought I'd see if I could get some advice before I pay for someone just to look at it. Please help!
 
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