My car has a similar issue with TCS; but not all the performance defects.

Sometimes the Triangle light comes on and stays on at random points during driving... and button is rendered useless. I just turn my car off at the next stop and turn it back on. Problem solved for free.

I tried reading on my problem and found nothing on the 2002... Maybe you have some components unplugged already and that's why you're having a problem. Best advice for specific problems > take it to the dealer and explain your problem to a shop foreman... it's his job to diagnose issues, so if someone else has had the problem, he's most likely seen it.