My Toyota Highlander XSE got a secondary collision brake system malfunction alert few times

[IreneAdler90]

I just got myself a Toyota Highlander XSE, it went well at first, but somehow it getting kinda off, we suddenly got a secondary collision brake system malfunction alert, also the check engine light came on at the 10K, 13K, and 15K miles.
At the 10K miles mark, the light went on, brought the car to the dealership. They said that a camshaft exhaust issue triggered the alert, but there was no repair, only a reset on the alert. Then at 13K miles, the light went on for a week, then went off by itself before the scheduled service. The last one happened again at the 15K miles mark, but again, the dealership didn't find any fault and simply reset the alert.
They reassured me that the case is open, but I'm still worried that nothing can be done.

 

[Johnny22Bravo]

I was on the road one day and the check engine light suddenly popped out so naturally i brought it to a local mechanic in our area and of course the light didnt show lol but he checked everything and said nothing seems to be faulty and adviced me to just go on and observe. as i drove to work the next day I stopped at the gas station (with the check engine light on) i noticed the gas cover lid was not closed tight so after filling her up of course i made sure the cover was securely closed, and guess what, the light goes off. lol, the system really detects even the smallest detail that is off with the car so yeah also check the little ones, it could be the smallest detail. hope this helps.