Unfortunately, not for the 2020 model, as pointed out here:

OBD-II change in 2020 - Zero Point Calibration Issue

And here:
But this thread may be discussing several different issues. Really need to know which codes were being thrown.

For PCS malfunctions after a lift, they could be caused by issues with
- the ABS sensor wiring/system (did the ABS wires get stretched?) ,
- alignment (particularly if UCAs are changed, and vehicle was driven with steering wheel no longer centered)
- TSS leveling

I've had experience with the first two. After replacing ABS wire, many of my PCS flashing lights went away. I never got codes, because I was sure of the problem I created by stretching a wire . This did not require code clearing or dealer service. Replace the wire, drove the car, problem cleared.

For the ZPC related codes, I took it to an alignment shop that had a modern alignment system. That system walked the tech through the 3 minutes worth of steps needed to do the ZPC (including the steering wheel center and downhill assist setting), and everything was set.

For TSS - perhaps I've been fortunate. I've done an ~3" lift on a KDSS 4Runner, and as of yesterday added a front bumper with a high bull bar. Neither of those things has caused TSS codes. Knock on wood.

Hope this helps.