My car did this same thing due to a bad alignment. I had it done by a quality shop and after that they did a āsteering relearnā and the codes havenāt come back yet after 150+ miles
I had a similar issueā¦. It turned out that Toyota had put the wrong oil in my car. 5w-30 when itās supposed to be 0w-20 I did the oil change myself and it never happened again.