VSC and TRAC light is flashing after I replaced the Intermediate Steering shaft. How can I reset them?

Toyota requires that a Zero Point Calibration be performed whenever the alignment is changed. The decent scanner Vetronix Mastertech scan tool..you can cheat with a cheap snap-on Verus made by Lectronics complete junk; latest of many disappointing scan tools from Oh-snap But I digress check the TSB or here's steps.....1.Disconnect the negative battery cable for more than two seconds. 2.Reconnect the negative battery cable. 3.Perform the applicable zero point calibration of the yaw rate sensor and/or the steering angle sensor. 4.Re-initialize all applicable systems (power window, sunroof, power lift door, etc.) Regards