Toyota Repair: VSC lights,, point calibration, propeller shafts


Question
I have a 2006 4Runner 4.0L V6 with 4WD.  I started to have intermittent warning lights showup for VSC, VSC trac, ABS and stability control.  I unsuccessfully tried to clear the problem by manually doing the zero point calibration descibied in a 03’ TSB using pins 4 and 14.  Although the ABS light is no longer on, now the lights just come on and remain on as soon as I put the vehicle into gear and drive.

History

1.   About 2-3 months ago, I was backing out of my driveway and shifted into drive when I was not quite fully stopped.  The VSC buzzed at me. I shifted into N and then back into Drive and continued with no problems.
2.   I took my vehicle to get serviced a week ago on a Saturday.  Had the oil changed,  and TIRES ROTATED.  I asked for them to retorque and grease the propeller shafts. Noticed the light come on once at a traffic light the next day.
3.   Went back last Tuesday and had the tires balanced because car was riding rough on highway.  On Wednesday I noticed the lights all come on again at a traffic light.  Problem went away when I started driving.
4.   Friday unplugged positive battery terminal for 20 minutes while on a level surface.  No problems that day.
5.   Saturday (two days ago) problem came back.  Attempted to perform zero point calibration.  I “shorted” pins 4 and 14 4+ times in 8 seconds until all VSC lights came on and continued with rest of test.  But at end of test (test enclosed on next page), I couldn’t get the VSC and TRAC lights to blink .13 times a second.
6.   Now the Trac, Vsc, VSC/Trac BUT NOT THE ABS LIGHT remain lit when I drive.  
7.   **In the past few days, I noticed sometimes have trouble putting the car into reverse from Park.  Sometimes I have to release the foot brake pedal, then reengage the brake pedal to get the car into R, N, D, etc.  I might just be noticing this more because of the VSC warning light problem…not sure.

I thought the Midas guys may have hit the sensors when they rotated the tires, or possibly screwed up the codes the first time when they tried to reset the pending maintenance light after the oil change (FYI, I never had a maintenance light come on at all, and ran a standard check at Autozone with no codes showing…but I never saw a Engine Check Light anyway).

Finally, I hooked up my volt meter to battery.  12.5 volts with engine off and ignition off, 11.9V when ignition switch on, and 13.9V with engine running.  

I took it to a local Toyota/Nissan dealer and they said it came back with the following:
FINDINGS: LIGHTS CAME BACK AND CODES ARE SET FOR C1223 & C1245
RUN CIRCUIT TESTING FOR BRAKE MASTER CYLINDER PRESSURE SENSOR.
NEEDS: BRAKE MASTER CYLINDER ASSEMBLY IS NEEDED W/MODULE.  This was after they said they found 6 seperate codes, then performed zero point calibration, then test drove the 4runner.  They returned and retested with the above codes.

Does this sound right?  The 4runner only has 57k miles. Would i have difficulty sometimes shifting out of Park (and having to release pressure and then reapply pressure to shift to R or D?).  I am thinking about having them zero point test it in my presence, and then drive it for a week.  Then if i get more errors, i was planning on having a different shop tell me the codes.  Have had a bad experience at a shop before, so I'm a little weary that i really need a new brake master cylinder head, considering the relatively low miles.

Thanks!!!

Thanks!

Answer
The C1223 code just means that there is a malfunction detected in the ABS system, the C1245 is more specific it states there is a malfunction with the yaw rate acceleration sensor, have no idea why they want to replace the master cylinder, the yaw/acceleration sensor should be replaced and and zero point calibration done.