2004 4-runner warning lights
 

I have a 2004 4-runner and recently I have been getting random warning lights on the dash. they don't always come on and they don't always stay on but they are three yellow lights. VSC TRAC, TRAC OFF, ABS and a red light that says BRAKE. what do these lights mean? it's kind of hard to take it to a shop because they are not always on.