I am having a p0051 code on my toyota sienna and vsc and engine check warning light.

Question

I did a DTC and got oxygen sensor on the display with codes P0051 and P 0037

Answer 1

P0051 oxygen sensor heater control circuit low Bank 2 Sensor 1

P0037 oxygen sensor  heater control circuit low Bank 1 sensor 2

Usually when P0051 codes there is also P0031 , and this would be the 02 heater control relay or its fuse or even both fuse and relay. Try this for start check the fuse. listed as A/F which is located in the engine fuse relay box.