2004 Toyota 4RUNNER stability control problems

While driving, noticed that the vehicle decelerated quickly when letting off the accelerator. Returned home and after exiting the vehicle found flames in the area of the left, front wheel. The brake rotors on both left and right front were glowing red hot. Root cause was found to be a yaw rate sensor failure caused a computer to apply the brakes and leave them applied while driving.

On february 10, 2018, I was driving my 2004 4runner in a snowstorm in 4wd high when the check engine light suddenly came on and the stability control and traction control systems immediately shut down, causing the rear of the vehicle to start sliding and putting me on a collision course with oncoming traffic. I don't understand why toyota designed its vehicles to shut off these critical safety features when the check engine light comes on.