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Call dispatch: (945) 382-4065ADAS, Module Repair & Programming
EyeSight standard on most trims; verify trim spec for base models.
Expert ADAS calibration, module programming, and diagnostic recovery for the 2021 Subaru Legacy. On this vehicle we cover documented systems include EyeSight Forward Stereo Camera, EyeSight Lane Keep Assist / Lane Departure Warning, and EyeSight Adaptive Cruise Control (ACC), this Subaru Global Platform (SGP) / Subaru Global Platform Advance (2019+) platform vehicle, Subaru PEPS; ECM transponder immobilizer; rolling code (SSM4-programmed) immobilizer support. Mobile across the DFW Metroplex, mail-in nationwide for module-bench work.
This 2021 Subaru Legacy page documents 9 ADAS systems, including EyeSight Forward Stereo Camera, EyeSight Lane Keep Assist / Lane Departure Warning, EyeSight Adaptive Cruise Control (ACC), and EyeSight Pre-Collision Braking (AEB).
View ADAS dataDocumented calibration triggers include ECM/PCM Replacement, ABS/VDC Module Replacement, BPCM (BCM) Replacement, and Windshield Replacement. Use the ADAS tab for the full trigger list.
View triggersThis page indexes 15 programmable module records across SRS, ECU, BCM, TCU/TCM, ABS, and IPC coverage.
View modulesThis page includes 3 gateway, immobilizer, or key-security records for this 2021 Subaru Legacy.
View securityCore Auto Logic supports exact-year diagnostics, ADAS calibration, module programming, and security-access planning for the 2021 Subaru Legacy using the documented systems and module data on this page.
Choose a sectionSubaru EyeSight (stereo camera only, NO radar): Pre-Collision Braking, Adaptive - Available; Immobilizer: Subaru PEPS - Standard; Platform: Subaru Global Platform (SGP) / Subaru Global Platform Advanc - Confirmed
Subaru EyeSight (stereo camera only, NO radar): Pre-Collision Braking, Adaptive Cruise Control, Lane Centering, Lane Departure Warning; Blind Spot Detection available as separate option on equipped trims
11.6" vertical Subaru STARLINK Multimedia touchscreen; wireless Apple CarPlay & Android Auto (2022+); OTA partial (maps)
CAN: HS-CAN (500 kbps); Subaru CAN; OBD2 DLC Pin 6/14
Choose a section to view data
Calibration required after windshield replacement, camera/radar service, or structural repair affecting sensor alignment.
Key programming requires manufacturer-level tool access. Add key supported. All keys lost (AKL) supported.
Verify platform code matches when cross-referencing part numbers across model years.
Common Subaru Legacy issues we resolve on this platform: EyeSight Forward Stereo Camera, EyeSight Lane Keep Assist / Lane Departure Warning, EyeSight Adaptive Cruise Control (ACC), and EyeSight Pre-Collision Braking (AEB) recalibration after windshield/bumper/suspension/CCM service. Module programming for replacement ECU/PCM, BCM, TCU, or accessory modules - Subaru Global Platform (SGP) / Subaru Global Platform Advance (2019+) platform uses HS-CAN (500 kbps); Subaru CAN; OBD2 DLC Pin 6/14. Key programming and immobilizer faults - Subaru PEPS; ECM transponder immobilizer; rolling code (SSM4-programmed) immobilizer; add-key procedure.
Officially supported (openpilot master)
Discontinued after 2025. 2023+ not confirmed in tree.
Documented for the 7th Gen BW - includes this 2021 model year. Open the full coverage on the generation guide.
ADAS calibration pricing for a 2021 Subaru Legacy depends on which of its 9 documented systems need work after a repair. This vehicle is documented with EyeSight Forward Stereo Camera, EyeSight Lane Keep Assist / Lane Departure Warning, EyeSight Adaptive Cruise Control (ACC), EyeSight Pre-Collision Braking (AEB), and Rear View Camera. We provide a fixed quote after confirming the operations performed - send the VIN, the repair scope (windshield R&R, bumper work, alignment, collision), and any DTCs and we return a number within 4 hours.
Yes. The 2021 Subaru Legacy uses a factory SRS control module that we support. We read and clear stored crash data, then restore the module to factory status so the airbag warning light goes out and the system returns to full operation. Reference part number on this vehicle: 98301AN00BVH. Bench-only or in-vehicle - both paths are supported. Send the part number and a description of what triggered the light, and we will provide a quote and ETA.
After windshield replacement on a 2021 Subaru Legacy, EyeSight Forward Stereo Camera, EyeSight Lane Keep Assist / Lane Departure Warning, EyeSight Pre-Collision Braking (AEB), and Rear View Camera rely on the forward-facing camera and require recalibration before the systems return to operation. We perform the calibration on-site (DFW Metroplex) with OE target fixtures or via mail-in for the front camera/radar module.
Most 2021 Subaru Legacy jobs complete same-day once the vehicle or module arrives. This vehicle has roughly 13 programmable modules documented in our database (3 ECU, 1 BCM, 1 TCU, 3 ABS, plus IPC/SAS/gateway/accessory). Module-bench work (ECU clones, BCM reprograms, SRS resets) ships back inside 1-3 business days including return shipping. ADAS calibration is on-site for DFW or mail-in for the front module.
Both. We run a mobile unit across the DFW Metroplex for on-vehicle work (ADAS calibration, key programming, IMMO pairing, post-repair recoding) and a mail-in bench for module-only jobs (ECU cloning, BCM repair, SRS reset, TCU clone). Quote the work and we will tell you which path is right for the 2021 Subaru Legacy.
Every programming, cloning, and calibration job on the 2021 Subaru Legacy is backed by a workmanship warranty covering the scope of work we performed: 1-year unlimited on all flashes, clones, and ADAS calibrations. If a module we programmed or a calibration we performed fails to function as expected, return it and we restore it at no charge. The warranty covers our work; it does not cover unrelated mechanical or electrical failure of the module itself.
Yes, our key programming specialists handle all-keys-lost scenarios on the 2021 Subaru Legacy. Immobilizer generation on this platform: Subaru PEPS; ECM transponder immobilizer; rolling code (SSM4-programmed). Submit the VIN and we will confirm the procedure and quote before scheduling.
We program, clone, repair, or replace the full programmable-module stack on a 2021 Subaru Legacy. For this vehicle our database documents:
Send the VIN and the operations performed and we will confirm support and pricing.
Send your VIN and we'll confirm exact module support and pricing for your specific vehicle within 4 hours.
1-year unlimited warranty on every flash and calibration.
Shared module fitment
These vehicles use one or more of the same replacement modules indexed for this vehicle.