The 4ws on my celica st183 has gone wrong, days before my driving test

Basically after 45km the 4ws light comes on and the wheels stick in the same direction whilst there supposed to stick in the opposite direction.
More about it here



Before 45km the wheels are supposed to go in the opposite directions (For parking and manuvering).
After 45km, the wheels are supposed to go in the same direction (gets rid of oversteer), now it is stuck in this mode.
The 4ws has always came on since the first day i bought it, its only now you can really notice it.
Also, the 2ws reverse doesnt work (i dont think).
All the 4ws light come on the dash telling me its on but doesnt work.
Do you see what i mean, its quite complicated.
What sort of garage shall i take it to, toyota or a local?
Im sure toyota will charge a fortune.
Here is some pics:


