After having the brake booster replaced and driving only five miles the brakes locked up and VSC code?

That sounds horrible, if they replace the brake booster, they most likely just took the master cylinder off and let it hang there, while replacing the booster. If I knew a little bit more like what they charged you on the bill I could help you out a little more. But if they didn't bleed the brakes with the high mileage of that vehicle, it sounds like there's water in the brake line that's naturally accumulated by the outside atmosphere. Moisture in the brake lines can cause the brakes to seize up while driving. The moisture gets hot, turns into steam and applies your brakes automatically. Place your brakes automatically. Dr. Loot

This sounds like the brake booster pushrod was not adjusted correctly which can hold the brake on, here is how to do the job and adjust the pushrod so it does not hold the brake on. Check out the images (below). Let us know what you find.