Pretty sure the 2006 doesn't have a specific steering calibration, since it was still hydraulic. Newer cars with EPS are generally calibrated by turning the wheel fully to the left, then right, then center. If your wheel is off-center, your intermediate shaft or rack is probably misaligned.

After a battery reset, you may have to reset some other things such as power windows & sunroof. For each side, roll the window down a little, then pull the switch all the way up and wait a second or two after the window stops traveling. This re-initializes the automatic function. About the same for the sunroof.

Here's a wiring diagram.

 

thanks for wiring diagram

 

No it has a sas sensor its reading that its at 1150 deg but my autel cant reset it and the gc to ts hotwire wont rest it either >

 

The Stability Control ("VSC") compares the outputs of the Yaw rate Sensor (angular velocity) to the steering wheel angle sensor (turning angle). If they do not correlate, a skid condition is assumed and corrective actions are initiated.

The Toyota service manual calibration ("reset") procedure to set the zero angle position signal requires Techstream software. However, there are YouTube videos that describe an alternate method. Example:

 

Problem finally solved ! 1st thing scanner kept saying fault on steering sensor , live data kept saying 1150 on steering position no matter where I turned steering, finally bought a new one and it was indeed faulty,(toyota parts direct online was cheapest I could find ) . 2nd you must clear the fault (either with scanner or disconnect battery for an hour) before trying to recalibrate using pin 4 cg and 12 ts on OB2 port or it won't work. Hope this helps someone someday
Thanks Gerry