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2002 TL-S "Check" Malfunction Indicator Lamp

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A couple of days ago the "Malfunction Indicator Lamp", "VSA System Indicator" and "VSA Activation Indicator" all suddenly came up after I was driving the car for about an hour. After a restart, the "VSA System Indicator" and "VSA Activation Indicator" were gone but the "Malfunction Indicator Lamp" remained on. I took the car to an autoparts shop and it was showing a troubleshooting code P0470. Does anyone know what does that mean? The car has 158K miles and the tranny was replaced at 60K miles. Thanks for any help in advance!

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