2009 Camry LE throwing a P0500 OBDII Code

Well today my wife was driving our Camry and the tire pressure sensor came on. So I thought it was a nail in the tire, so we took it to the tire shop..... When they got it in they said there was no holes and the tire pressure was off in all 4 tires by 2 psi and none were the same... So they put them all at 35 psi and told us the light was off. My wife got in the car and the check engine light came on..... So she went back in and they said that when they started the car and took it in the bay the ABS and the Check engine light and tire pressure light were on. But once they fixed the air pressure the tire pressure sensor went off and the abs light went off...... So we took it to advance auto parts and they ran the scanner on it and they told us it was a P0500 code which is a speed sensor code....

Wife called toyota and they said it was covered under warrenty, and they just needed to confirm the code and they would order a part, so we drove down there and they refused to look at it and told us we had to pay 50 bucks for the diagnostic test. Anyways we got pissed and just left do to they said it was under warrenty and it would be no cost to us. So my wife started the car and the light was off.....

Anyone have a clue what the issue could be? And btw its a 2009 Camry LE with the 4 cylinder automatic

Thanks in advance!