PCS malfunction - Need help from 4Runner owners

Rotated the wheels on the 4Runner today. After that I had the front end on jacks with the engine running and turning the steering wheel looking for a popping noise that she has been complaining about. Now it says that I have a Precollision system malfunction...see dealer. How do I clear it? It also shows no steering angle.

 

Resolved.

 

What was the answer ? In case somebody else has same problem...

 

They scanned it and it gave Code C00632A for yaw sensor stuck in loop and to replace center air bag sensor. They said the sensor is $1200, would have to be ordered, and not covered under my extended warranty. They said that they could clear the lights but it may come back. So far about 50 miles or so and it has not come back on.

 

What year is the 4runner; it only has 16,000 miles. Shouldn't that still be under warranty?

 

Extended warranty company said airbag components aren't covered. They wanted to order and replace the sensor but they just wanted to sell parts. The lights haven't come back on since they cleared them. I think it was just the system going haywire when I had it on jacks.

 

Thanks for posting the resolution. Did you figure out what the popping noise was?