2019 Tundra techstream Manual Steering Angle Calibration

Hello everyone, I am having difficulties calibrating the steering angle sensor with techstream. I have only the offline version so I don't have access to techstream manuals to see the exact procedure. I have tried the paperclip method for resetting calibration but that does nothing to my 2019/04 tundra for some reason. I go to abs>test mode> and start the procedure and end the test and then drive it but it gives me "C1439 steering angle sensor initialization incomplete" not sure what I have to do in "test mode". If anyone can help or have access to the manual with instructions would be greatly appreciated. Steering angle sets to 0 but for some reason the "zero point of steering angle" is at -3072. Truck is already aligned and steering wheel is completely straight. Also getting codes "C13A9 Brake system circuit" and Front Radar-Environment History set as "bad" tried to clear history under "Pre-collision 2" but that won't delete the "bad" history. Not sure if thst has something to do with the calibration. Truck has a 6 inch lift with 37s, was in an accident so front radar could possibly have been damaged but has no visible damages, steering angle was replaced. I am getting the pre-collision not available and trailer brake malfunction and traction control dash warnings everytime I go over 25 miles.

Sorry for the long write up, hope someone can help, thanks.