ABS, Brake and traction lights on after alignment

I took my Prius 2013 to a mechanic shop to have my car checked for the alignment and tires (for a second opinion, the leadership is telling me I need a steering rack), When they were doing the alignment they said "Car could not relearn steering wheel reset", as result now the ABS, brake, traction light are on and the brakes feels funny. I had no light on my dash other than tire pressure due to a bad sensor. So they recommended taking it to the dealer which is not what I want to do. Is the alignment can be done by a Toyota dealer?..or does the mechanic shop needs to have some special tool/scanner/Software to align on a Prius? and any suggestions on how to fix this?

 

I just notice on the paper they give me, they encounter a code C1345.