DTC P1572: Improper Aiming of Radar Sensor Beam Axis: Procedure

WARNING: This page is about a different car, the 2012 Lexus GX 460. However, it is still accessible from the selected car via links, so may be relevant.

ADJUST MILLIMETER WAVE RADAR SENSOR ASSEMBLY
1. Adjust the millimeter wave radar sensor assembly. Refer to ADJUSTMENT .
NEXT: Go to next step
CHECK FOR DTC
1. Clear the DTCs. Refer to DTC CHECK / CLEAR .
2. Perform the following to make sure the DTC detection conditions are met.
  HINT:
  
  If the detection conditions are not met, the system cannot detect the malfunction.
  1. Drive the vehicle at a speed of 50 km/h (30 mph) or more.
  2. Turn the cruise control switch on.
3. Check for DTCs. Refer to DTC CHECK / CLEAR .
  OK
  
  DTC P1572 is not output.
NG → See step 3

OK → END
REPLACE MILLIMETER WAVE RADAR SENSOR ASSEMBLY. Refer to REMOVAL