C1210 and C1234 Codes
 

Hello,

Hoping the community might be able to help. Had the C1210 and C1234 codes come up again on my ES with 158k miles. Supposedly a zero point calibration will help address this issue, but I wanted to see if any fellow members had these same codes thrown, and what was done to resolve it. If the zero point calibration was done via the obd port, which pins were used, and what process did you all follow. Any help is appreciated. I hope it's not the yaw rate sensor, because it appears to be quite pricey to replace. Thanks in advance.