2008 Prius No Dome Lights, No Smart Key, VSC Light

I have a 2008 Prius and have come across this issue.. I see others have had a similar issue but with no working radio or working clock and other non working things... I only have No dome lights, no smart key functions and VSC Light is on and code is C1231 for the steering wheel angle sensor..

I have tested all fuses and they test good.. have also replaced all fuses just in case.. I have tested for voltage and all appropriate spaces have voltage.. I am a little stumped.. Hoping somone has had a similar experience to mine with some functions working and having voltage.. as others have no working functions and no voltage..

Thanks in advance!