With Manufacturer's Scan Tool
Check the DTC.
HINT: If a malfunction occurs in the No.1 vehicle speed sensors or actuator, etc. during cruise control driving, the ECU actuates AUTO CANCEL of the cruise control and turns on and off CRUISE MAIN indicator light to inform the driver of a malfunction At the same time, the malfunction is stopped in memory as a diagnostic trouble code.
USING LEXUS HAND-HELD TESTER
a. Hook up the LEXUS hand-held tester to the DLC2.
b. Monitor the ECU data by following the prompts on the tester screen.
HINT: LEXUS hand-held tester has a "Snapshot" function which records the monitored data. Please refer to the LEXUS hand-held tester operator's manual for further details.