Cruise / Lane Assist / Sensor "System Malfunction"

2023 Prime Premium, I am getting these System Malfunction warnings after a front end collision (air bags deployed). Paid out of pocket to repair / replace all components/air bags with OEM new, and everything works fine there. Now there is this persistent notification on the dash about these sensor systems that don't work.

1st non-Toyota mechanic replaced everything to the point that all error codes were gone from the ECU. Lights still persisted, and said take it to dealer.

So brought it to dealer this week, and I got the rear-door recall done, and extra key recall, and expecting to pay out of pocket for the repair since it was likely caused by the impact, but the dealer said the same thing, that nothing is showing up on error codes and they don't know what it is, and sent me home. They even did a manual calibration on the cruise control sensors/distance sensor and still nothing.

So I'm kind of stuck at this point, since the ECU isn't showing codes but the lights are still on for the Lane Assist/Cruise Control system. Car operates fine (including A/C) except that these assist systems do not work. Has anyone heard of something like this , and how I can go about troubleshooting it or replacing?

I will probably eventually take it to a different Toyota dealer next week, and give them a shot at it, but if anyone can help that would be much appreciated since I am going to have to pay out of pocket for this its non-warranty damage, trying to do as much self-diagnosis or repair possible.

Pictures below are all the error/warnings it is giving on the dash. There is nothing on the right side at all with check engine, ABS, brakes, airbags, etc... Those are all fully clear, its just these dash notifications with "System malfunction" and the symbols above.

 

thanks for the reply. I'm gunna take it into another Toyota dealer today (the main one for San Diego area), and have them try again to diagnose it. I will suggest the windscreen camera to them.

that works . It "reads" the speed limit and posts it on the driver display panel and works fine. I am also going to press the dealer on getting ECU codes, or potentially "Resetting" the ECU (maybe just some lingering codes).

 

The dealer just called, they said they "suspect" its sensor calibration issue, and said it would cost 7 hours labor $1700 to recalibrate the sensors, but no guarantees that would fix anything.

Does anyone know if the sensor calibration is something I could do at home? Not too interested in dumping $1700 on possibly a dead end

no its not like that. It was just front end only, and not cobbled. From what I am reading now, is that the ADAS system gets screwed up, and needs to be recalibrated, so I think potentially its related to this. The 2nd dealer said there were no error codes in the ECU, so potentially it just needs to be calibration reset.

So I might check now if there are places besides the stealership who can do this in San Diego with a 2023 Prius, since I doubt it will be $1700 normally.

edit: from what I am reading, an ADAS calibration should take 1-3 hours max, so the 7 hours billing seems kind of ridiculous from Toyota Norm Reeves. I will contact them tomorrow and see if I can negotiate that, otherwise will probably find a separate ADAS specialized place if they can handle Toyota Prius 2023 (not all have the software.

 

For anyone interested in the update, here is what the dealer responded with today. They requested 7 hrs labor $1700+ to "recalibrate the sensor" and then go from there (did not offer any guarantee of a fix), so I just pulled it out and drove it home. Might see an independent ADAS mechanic Monday and just have them do the calibration on what is showing the errors below, and see if that fixes the error. I am not sure what all these errors are

Code list:
X21BA BH System Malfunction
X2023 Front Radar Sensor Optical Axis Not Adjusted
X2036 Front Side Radar Sensor Optical Axis Not Adjusted
X203B Rear Side Radar Sensor Optical Axis Not Adjusted
X2014 Front Recognition camera optical Axis Not Adjusted
X2403 Automatic Brake Malfunction (Sub)
X2904
X2000 Yaw Rate Sensor Malfunction
X204A Acceleration Sensor Malfunction
X2402 Powertrain System Malfunction
X2406 Brake Hold Fail
X2017 Front Recognition Camera outside Guaranteed Operating Voltage
X2016 Front Recognition Camera outside Guaranteed Operating Temperature
X2503 Drive Monitor Temporary Not Available
X2003 Brake Control System Malfunction

A lot of these codes are old and probably not cleared out (?), since I did a lot of the repairs a few weeks ago. Also not sure how many of these errors are just temporary "blips" or actual persistent things, for example the Front Recognition Camera Voltage thing, might just be to switching from low battery or being in the sun.

 

I can take it Monday to ADAS specialty shop to evaluate and reset the codes. The report only shows 4 of the ADAS sensors need calibration (not even an entire full sensor calibration!), which should take 1-2 hours. Norm Reeves Toyota charging $1700 to recalibrate 4 ADAS sensors is actual some insanity

Also considering buying one of these high end OBD scanners, but not sure if they are compatible with everything on the 2023 Prius? Since from what I have seen this car model is still really new that its hard to find people with compatible electronics equipment to handle it.