See also:

Visual Index
...

Rear Differential Fluid
4WD model only The rear differential should be drained and refilled with new fluid according to the maintenance messages shown on the information display. Have your dealer replace the rear differ ...

Vehicle Stability Assist (VSA ), aka Electronic Stability Control (ESC), System
The vehicle stability assist (VSA) system helps to stabilize the vehicle during cornering if the vehicle turns more or less than desired. It also assists you in maintaining traction while accelera ...