Toyota Repair: VSC Light, angle sensor, zero zero

Question
The VSC off & VSC light have been coming on for 50 k miles. At 36 k dealer said no problem. At 95 K we lost power, etc. They checked out & said we needed 2 computers. Were to check with Toyota since problem had been reported. They did not call back & had no problem for 6 months, then started loosing power again. My mechanic found the steering sensor inacurate, registerd +9 yaw all the time. He replaced and it will show changes now, but cannot set to zero (zero with wheel turned 18o degrees). He said he can't do more. He thinks a computer needs to be replaced, but doesn't have the equipment to tell which one and he doubts that both need to be replaced. Any ideas?
Which computer would control the steering sensor?


Answer
The steering angle sensor has to be recalibrated after replacement using the techstream scantool, I need a lot more information in order to even start to have any answers, I need to know what year/model it is, how many miles on the odometer, is the check engine light on as well? Finally I need to know all the diagnostic trouble codes that are stored in the abs/vsc and in the ECU/ECT.