This happened to us as well on a trip last summer, on the way back I adjust the luggage in the roof top box further forward and only filled the tank to half, we stop every couple hours anyways with kids and dogs so it wasn't an issue.
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I would highly recommend doing an AHC fluid replacement. I had this issue last year (July 2016) - 6 people in the truck with a bit of luggage and stuck in low with the light flashing. This indicated to me that the system was struggling/failing to level out.
I did an AHC fluid flush and replacement about 2 months later and problem fixed. The AHC now switches between the different heights far quicker, too.
The old AHC fluid was dark brown, almost black, and I strongly suspect that it had never been changed, even though the truck (2001 VX Ltd) has had an easy life, all highway miles - approx. 189,000km at that point. (Sept 2016)
I used this guide: The Toyota Landcruiser Owners Club :: View topic - AHC suspension fluid replacement/flush/service
part number is 08886-01805
I paid NZ$120 (inc. GST) for 2 x 2.5L tins.
Where'd you get AHC fluid from here in NZ? Local Toyota dealer hasn't got back to me regarding its availability. Cheers