Help! 4Runner starts fine but begins to run rough once warmed up
 

2003 4Runner V6 129,000 miles
- No engine codes
- Starts fine but begins to idle low and run rough after it has warmed up a little
- ABS,Trac,VSC and Brake lights are on, won't clear even if I clear them with a scanner or removing the battery cable. They stay on regardless.
- Replaced Fuel Pump, made no difference.
- Coolant is full and hasn't dropped at all - Temperature is always good.
- Oil on Dipstick looks fine.
- Some moister dripping from tailpipe but no smoke.
- I do notice a very small amount of dirt or oil residue by valve cover seam. Not sure if it was there before...
- Checked Spark plugs, Side where valve cover has dirt look like they're brand new, they're barely tan. Other side are light tan and all have been in the car for 20,000 miles.
- Fuel Pump fuses are all good. Fuel Pump relay clicks when it's turn over.
- Repeating...No Codes have shown up.
- Recorded data with scan tool - O2 sensors running generally in the .640v - .680v range with rare jumps in the .700v to .125v range.

Would greatly appreciate any suggestions and help!