Codes UO123, UO124, VSC and check engine light on?

Hello, did you have both rear tires replaced, serviced, or was there just a repair to one tire done and which rear tire was it? Both of these codes pertain to the Skid Control system and on the 2wd model there are Skid Control sensors at each of the rear tires. It sounds like when they put the tire(s) back on they may have either disconnected one of the sensors by accident or possibly damaged the harness connectors to the sensors. I will put diagrams showing where the sensors are. The 4wd model has ABS wheel speed sensors on all 4 tires, but the 2wd model has these 2 Skid control sensors on the rear tires to monitor the rear end for any type of skid or slippage of the tires so the traction control system can help prevent any type of crash or loss of control.

This guide below is for ABS wheel speed sensors, but it will give you an idea of where the skid control connectors will be, and where to look to inspect them. After the repair the codes will need to be cleared as well.
Most likely the traction control system is disabled right now and possibly the abs system as well since these rely on the wheel sensors as a data input.

https://www.2carpros.com/articles/how-to-replace-an-abs-wheel-speed-sensor

https://www.2carpros.com/articles/anti-lock-system-testing-and-repair-abs

Hello. Just wanted to Jump in. U codes are communication faults because something is offline. In this case it looks like the Yaw sensor has no communication. I would recommend you look at ECU IG1 fuse first to see if it blew open. The fuse box is located inside the driver's cabin. Let us know how the fuse looks and verify power is flowing through the fuse using a test light.

Here is a link on testing fuses and look at images provided:

https://www.2carpros.com/articles/how-to-check-a-car-fuse