VSC and trac off

They are likely both off due to a fault in the system, as you don't mention an ABS or tire pressure warning light as being lit then it is more centered on the skid control module. Does the rest of the dash and engine appear to be working properly? If yes then that points even more at the module. There are multiple fuses for the systems but none that only power the traction or stability module. Because disconnecting the battery would have reset the system back to the default of on it likely isn't a bad switch either. That leaves needing to use a Toyota specific scan tool to communicate with the ABS/Skid module and see what the fault is. The first generation Highlanders are somewhat stubborn with scan tool communication for the traction module. Many aftermarket units cannot connect to them reliably and need TechStream and a J-2534 box to actually work. The lower end code readers can pull most powertrain codes but lack the two way communication abilities needed.