Disclaimer I have only community-based experience and warn you that doing the actions below could disable your vehicle and/or require costly repairs. Continue at your own risk!

I just upgraded from a spacer lift & XREAS to Ironman Foam Cell Pro - Stage 3 -- WOW!

As this is my second round of the Yaw Rate and Acceleration Sensor Zero Point Calibrations, I wanted to write a simple, plain English guide for all of you who are like me...you love crayons and finger painting in the mud. If this doesn't sound like you, then stop, click this link and read the formal Toyota calibration guide posted: Yaw Rate and Acceleration Sensor Zero Point Calibration.

Why do I need to do Yaw Rate and Acceleration Sensor Zero Point Calibration (and the accompanying Downhill Assist Control or Crawl Control Calibrations?

Well, the reasons could be many...but typically your dashboard looks like a Christmas tree. You may have just lifted your 4Runner, broken one of the 1200 guage wires in your ABS wheel speed sensor harnesses (typically your front driver or passenger side), or your ABS/VSC is overly sensitive from the factory. No matter what the case, I hope to help. I would suggest you start your troubleshooting with the "Search" box on these forums, Google, and these two helpful writeups: 5th Gen 4Runner Dash & Indicator Lights - Compete Guide AND Limp Mode on 5th Gen 4Runner & Zero Point Calibration (SOLVED).

I tried all that and I think I broke my sensor wire...what next?

During your lift, you most likely stretch the small gauge wire Toyota decided to use in the extremely tight sensor harness from your engine bay to your hubs. No worries, for about $60 a side and no specialty tools, you can be back in motion.

Without Techstream, you will want to remove each harness and conduct a multimeter resistance test. You can pick up a cheap one at any hardware store if needed. Here is a good diagnostic walkthrough: ABS Light ON? HOW TO TEST ABS SENSOR with Multimeter. Car Repairs: Brakes; Anti-Lock Braking System. - YouTube.

Now that you have identified which side(s) to replace, call your friendly, neighborhood dealer and ask for the ABS Wheel Speed Sensor WIRE (not the sensor) using these part numbers: Front Passenger Side (Right) ABS Sensor Wire - Toyota (89516-60260) and/or Front Driver Side (Left) ABS Sensor Wire - Toyota (89516-60270).

Steve has created a great video here: 2010-2022 Toyota 4Runner ABS Sensor Wire Replacement - YouTube. Go slow and easy to avoid further costs in replacing the sensors themselves.

Gerald, I didn't break my harness or maybe I did, but I just want to get down to the calibrations.

Cool -- check out my 3rd grade reading comprehension instructions below.

To begin, your 5th gen 4Runner has Traction Control (TRAC), Vehicle Stability Control (VSC), and an Anti-lock Braking System (ABS) but you may (or may not) have Downhill Assist Control (DAC) OR Crawl Control (CC) if you have four wheel drive. We will find out below.

Suggested Time: 0.5 - 1 hour
Suggested Tools: 2 paper clips, 1 worklight, 1 marker, 1 flat parking spot, snacks

Step 1: Setup

1. Find two uncoated paperclips or small gauge wires with stripped ends as your special diagnostic tools aka "SST Check Wire" -- 3-4" of length should be enough. I would also suggest grabbing a worklight and a marker as well.
2. Park your 4Runner on a flat surface (like your garage or local Toyota dealership waiting line) and ensure your steering wheel is centered before turning off the car and putting it in Park with 4Hi and 4Lo turned off.
3. Moving forward, do not turn on the car, vibrate, move, bump, lean, etc. on the vehicle until the full process is complete or you will need to start over.
4. Visually establish if your 4Runner has DAC or CC by looking for the buttons/knob. You must complete configuration of any systems on your 4Runner or the dashboard lights will never go away.
5. Bring your light, markers, and paperclips to your OBD connector under the steering wheel.
6. Count 4 holes on the OBD connector (from the right if your connector is upside down like mine -- if unclear, check out the formal Toyota instructions above for a picture), and insert the paperclips into these 4th holes on the top row and the bottom rows (aka pins #4 & #12). I like to mark these with a marker for future fun!

Step 2: Clear Yaw Rate & Acceleration Sensor Calibrations

1. Begin by clearing all calibration data...
2. Turn the ignition on (forward 2 clicks with your key or 2 presses of your push button).
3. Wait 10 seconds for the startup checks to complete. Your engine should not have turned over.
4. Connect & disconnect your paperclips rapidly with your fingers in a sandwich method 4 or more time within an 8 second span then stop and leave them disconnected from each other but still in the OBD connector. This is some simple thumb and index finger action.
5. Your dashboard slip indicator light should come on; if not, turn off the 4Runner and go back to Stage 2.1 and restart the process.
6. Turn off the 4Runner (back 2 clicks with your key or 1 press of the push button).
7. Congratulations you have cleared the calibration data and can continue.

Step 3: Zero Point Calibration

1. Connect your paperclips by bending one over the other with light pressure and then use your fingers to hold them together for good measure.
2. Turn the ignition on (forward 2 clicks / 2 push button presses)
3. Wait for 15 seconds without moving (you, the vehicle, or the paperclips).
4. The slip indicator will go from solid to a VERY rapid blink; if not, go back to step 2.1 above.
5. Disconnect the paper clips from each other but leave them in the OBD connector.
6. Turn off the 4Runner (back 2 clicks / 1 push button presses).
7. Congratulations you have finished the Zero Point calibration.

Step 4: Downhill Assist Control Calibration

1. If you have DAC, proceed...
2. Connect your paper clips by bending one over the other and then use your fingers to hold them together like above.
3. Turn the ignition on (forward 2 clicks / 2 push button presses).
4. The slip indicator should be solid; if not, go back to step 2.1 above.
5. Reach up to the DAC button and press it once for on; you should see the DAC light show on your dash...do not shift the car out of Park OR enter 4Hi/4Lo.
6. Press the DAC button again; you should see the DAC light on the dash turn off.
7. Press DAC button; light on.
8. Press DAC button, light off.
9. Disconnect the paper clips from each other but leave them in the OBD connector.
10. Turn off your 4Runner back 2 clicks / 1 push button presses).
11. Congratulations you have finished the DAC calibration. Proceed to Stage 6.

Step 5: Crawl Control Calibration

1. If you have CC, proceed...
2. Connect your paperclips by bending one over the other and then use your fingers to hold them together.
3. Push the crawl ON/OFF switch and check that the crawl indicator light is on while the switch is being pushed.
4. Push in the ON/OFF button while you turned the dial and keep it pushed down till the end of the following steps
5. Turn the crawl ON/OFF switch off.
6. Turn the speed selector switch to L (low).
7. Turn the speed selector switch to medium-low.
8. Turn the speed selector switch to M (medium).
9. Turn the speed selector switch to medium-high.
10. Turn the speed selector switch to H (high).
11. Turn the speed selector switch to L (low).
12. Disconnect the paper clips from each other but leave them in the OBD connector.
13. Turn the ignition switch off.
14. Congratulations you have finished the CC calibration. Proceed to Stage 7.

Step 6: Driving Calibration

1. Now that you are done with your calibrations, take out all your tools, paperclips, crayons, etc. and get ready for a quick trip around the block (or to the store for celebratory snacks & beer!
2. But Gerald, Toyota says to do the driving test right after Stage 3? I hear you but many others before us have pushed step this to the end with success. This is helpful if you screw up any of the fancy paper clip connections and have to start over.
3. Now turn on your 4Runner (3 clicks/1 press & hold) so the engine turns over.
4. Shift out of park and drive around for about 10 minutes. You should try to go straight and flat, above 25mph for at least 10 seconds during this drive but most report a short, varied drive is enough.
5. Throughout your drive, you should not see any error lights...if you do you can restart at step 2.1 OR try other troubleshooting options.
6. At your own risk... find a flat parking lot or preferably a dirt rode to test 4Hi, 4Lo, and DAC or CC. Engage each system for short, straight forward rolls in each state. If no errors, pack it up and make your snack run!

I hope this helps at least one person in the coming years who is up late, frustrated with Toyota's guide, and needing a hand.

Cheers,
GG

Thank you for this

BRAVO SIR!!

Simple and well explained.

MODS...can we get this as a "sticky"?

@generald two questions: please clarify the two paper clip thing. one paper clip in each pin & touching them together/apsrt, correct? Does this same procedure work on 4th gen? Thanks.

Yes but the pins are different