The VSC and VSC OFF lights on the dash stay on

This is normally a wheel speed sensor or a module issue. However, the fact that you have a speed sensor code makes that the issue.

Here are some guides that will help with this:

https://www.2carpros.com/articles/abs-wheel-speed-sensor-test

https://www.2carpros.com/articles/how-to-replace-an-abs-wheel-speed-sensor

Below is the process from the manual that will help with replacing the rear sensor. Please let us know if you have other questions. Thanks