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The sonar system is controlled by the clearance warning ECU and is located behind the glove box.
Which snap on code reader do you have? Also is the system not operating?
I see... If it is not labeled as sonar system then the scantool may not be able to provide those codes. It may need to be inspected with the Toyota provided scan tools by the dealer. Toyota has provided updated parts for vehicles with a steel bumper due to abnormal sensing.