2005 Toyota Rav4

Brakes problem
2005 Toyota Rav4 4 cyl Two Wheel Drive Automatic 118000 miles

I was driving my car today and my trac light came on. It tells me that my traction control is off. The check engine light is on also. My car is driving fine and my car guide says it is ok to drive but I need to take it to my Toyota dealership. Is it ok to drive? Is this serious? It drives just the same as it always has. I am not hearing any sounds other then the ones it has always made. My tires have always been " loud" since I got the car! Thanks.
June 8, 2010.

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