Toyota Repair: HIGHLANDER VSC LIGHT, vsc, o2 sensor

Question
I HAVE A 2002 HIGHLANDER LIMITED V6 WITH 132000 MILES.  I HAD A ENG AND VSC LIGHT WITH CODE P1153.  I REPLACED THE O2 SENSOR BANK 2 SENSOR 1, WITH BOSCH PART #15217.  I RESET THE LIGHTS.  NOW EVERYTIME I DRIVE (MOVE) THE CAR, THE VSC LIGHT.  NO ENG LIGHT.  I TURNED THE ENGINE OFF AND RESTART THE LIGHT STAYS OFF UNTIL I DRIVE. TIRE PRESSURE IS GOOD

Answer
There are still some codes in the VSC/TRAC system that won't clear by disconnecting the battery, or they will clear but as soon as the car moves the computer dtects a problem in the system. If you can have someone access the system and get the trouble codes for me I can help.