replace those ties rods my boy stop being lazy..VSA is coming on because it thinks your losing traction from the tie rod coming out causing the tire momentum to shift back from the throttle response so it thinks your losing traction thats all just fix it before your wheel goes flying off on the hwy please ..to aviod these kinds of issues in the near future please get wheel alignments take care of your control arms and hub bearings it'll prevent you from shit like that