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Thank you for allowing me to help you with this concern today and am sorry to hear that this is happening. I will have to ask you a few questions so that I can get a better understanding as to what may be going on with your 4Runner.
These-- p2238 oxygen sensor pumping circuit low (for a/f sensor) (b1s1) Also abs codes c1201 engine control fault, will both because the B1S1 A/F sensor is bad and needs replaced. Please use only a Denso brand sensor.
These other codes--c1241 too low or too high battery volts, c1223 fault in abs control system, c1290 malfunction in zero point of steering sensor will all also be related. Please check the battery and charging system to make sure they are working properly. If yes, then just have the Dealer perform the Zero point calibration for the steering angle sensor and the codes will clear. Does this make sense?