I ran into this problem with my 2020 Offroad pro, 2.75in lift and 285/70/17s.

I initially had the problem before I put the tires on and aligned, but was able to clear the code with a cheap code scanner and the message went away for a week. After tires and alignment I got the PCS error and after clearing the code it would always come back after a mile or less of driving.

I took it Toyota of Poway in CA. They were familiar with the error and let me know it was caused by the lift. They charge 3 hours labor ($420) for Zero Point Calibration and Initialize Skid Control. I was a bit shocked at the 3 hours of labor for the service, but they ended up doing it for half price. $210. No PCS error any longer and if it comes back I can complain to the dealer. So overall I'm alright with it. I chalk it up to an extra $210 to lift a 4Runner with PCS. I do value the radar cruise on long trips.