C0072moderate severityChassis
Yaw Rate Sensor Bias/Offset
on 2010 Toyota Highlander 3.5L V6 · AWD
What this code means
The yaw rate sensor zero-point offset has drifted beyond acceptable limits.
Symptoms
- Stability control light on
- ESC activates unnecessarily
- Vehicle pulls to one side during ESC event
- ESC disabled warning
Common causes
- Sensor internal calibration drift
- Sensor mounting misaligned
- Aftermarket suspension modification affecting sensor plane
- Temperature-related sensor drift
Diagnostic steps
- Check yaw rate sensor output at standstill (should read zero)
- Perform yaw rate sensor calibration
- Verify sensor is mounted level and secure
- Check for aftermarket suspension modifications
- Inspect for related lateral acceleration sensor codes
Repair notes
Recalibrate yaw rate sensor. If bias returns, replace sensor assembly.
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C0021
LF Wheel Speed Sensor Range/Performance
C0022
RF Wheel Speed Sensor Range/Performance
C0023
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C0024
RR Wheel Speed Sensor Range/Performance
C0025
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C0026
RF Wheel Speed Sensor Circuit Intermittent
C0027
LR Wheel Speed Sensor Circuit Intermittent
C0028
RR Wheel Speed Sensor Circuit Intermittent
C0035
Left Front Wheel Speed Sensor Circuit
C0036
Left Front Wheel Speed Signal Erratic