Thanks for all the help everyone. @
White64Goat hopefully it's not what you linked me. I don't want to keep taking the car to the dealership every other week. Plus I didn't really have an issue with weird idling/stalling in neutral. The CEL was on, and the traction control was stuck on as well. If I tried to use the cruise control the symbol for cruise would come and and stay on unless I turned the car off, and I was unable to set the cruise control.
I called the dealership today and found out there is something wrong with the car. The guy I talked to didn't know anything and said the guy working on my car is off today, but will be working on my car first thing tomorrow morning. Turns out a case will have to be opened on the car though and the tech reps will have to get involved. I plan on calling Toyota tomorrow first thing in the morning to get as much info as I can. I will post anything I find out tomorrow afternoon.