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The VSC system will turn off and the slip light will illuminate on the tundra any time a fault is detected in pretty much any system on the vehicle. Do you have access to a scan tool to see which system is triggering the fault? The scan tool will give you trouble codes that will indicate where we can start looking for a problem.
Yes, Autozone should be able to scan it and pull the codes for you. Once you have those codes I'd be happy to help you figure out where to go from there.