Rear Differential issue

Thank you all for this opportunity. Own 2009 Tacoma, 4L-6, 4D, 126K never a problem. Went to original Dealer with safety recall re: broken leaf springs. They confirmed, ordered leaf springs... started hearing rear end sounds... they told me "not from leaf springs"... took 7 weeks to get leaf springs... told them to service differential while doing leaf springs. They called and said both rear wheel bearings were gone and for $2,000 they would replace! Said no thanks, have a great private garage. They replace wheel bearings a seal for $1,000. On my way home the VSC indicator turns on... called mechanic who indicated he could look at it Monday. Then ABS light and Brake Warning light comes on. Vehicle did not "feel" like any problems were happening. Got home (25 miles) crawled under to feel for heat... none on brakes none on axels BUT the differential was really warm near the front U joint. Let truck set overnight... Three warning indicators still on and will not shut off.

Can anyone give me a clue as to what is going on?

Thank you!
Mac