According to Toyodiy, one is the 'Steering Control Computer' and the other is 'Steering Control Motor Driver' so i assume its the first one i want.
First thing i want to try is to reset the 4WS ECU. How is this done? I've tried disconnecting the battery, i've removed the fuse but still no good.
If this doesn't work, apparently the rear steering rack needs recentering. Anybody know how this is done?
I can't take it to the mechanic because i have no money as usual plus if this keeps going wrong, it will be handy to know how to fix it myself

I'm sure there are a few mechanics on here that have fixed this before

Thanks