I had this problem on my latest trip to Baja, just pre Covid March 10 to 22. It had rained a lot and there were lots of big puddles. Whenever I would go through a big puddle fast, the VSC TRAC and VSC OFF lights would come on. The manual says get serviced, but we were able to clear them with an OBDC reader. Though they come back on quickly. A few hours of drying out, and the lights went off on their own.
This is not to say you shouldn't worry. On my latest trip out last weekend, I had the unpleasant experience of the Center Diff getting stuck in the LOCKED position when I was 200 miles from home. When locked, the center diff usually makes the VSC OFF light come on, but I was again experiencing both lights. And there were only small slow water crossings as my wifely copilot was doing the driving. Now that I think of this, my current issue might be explained by the earlier issue. Bad connections in the wiring... Those salt flats had some briny water that could have messed up the connections pretty bad.
Anyway, our field fix was to leave the diff locked and just remove the front driveshaft. We got home safe, with only one unplanned night in the bush.
And I must say, I think the LC100 is much more pleasant to drive on roads as a 2WD vehicle.