VIN / Build Split
VIN pos 4-8 identifies model/body/engine. Toyota WMI: 2T1 (Camry), 4T1 (Corolla/RAV4), 5TD (Highlander). Position 7 = engine. Position 10 = model year code.
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2021 Toyota 4RUNNER Supported Services
2021 Toyota 4RUNNER
ADAS calibration, module programming, and security relearns
Multiple trim levels available. ADAS feature availability varies by trim and options package. Contact us for specific trim calibration requirements.
Technical snapshot
- Platform N280 (5th Gen, 2010-2023)
- CAN Architecture Multi-CAN bus (PT-CAN powertrain, Body-CAN, AVC-LAN); OBD2 DLC Pin 6/14 CAN 500kbps
- Security Toyota Smart Entry - AES-128 DST-AES transponder; no OBD pin extraction; AKL requires TIS dealer authorization; max 8 keys
What do you need fixed?
Choose a service to start your quote.
OVERVIEW
Expert ADAS calibration, module programming, and diagnostic recovery for the 2021 Toyota 4runner. On this vehicle we cover documented systems include Forward Camera (Monocular), Forward Radar (77GHz), and Pre-Collision System / AEB (TSS-P), this N280 (5th Gen, 2010-2023) platform vehicle, Toyota Immobilizer Gen 4 (AES-128) immobilizer support, Toyota Entune 3.0 infotainment programming. Mobile across the DFW Metroplex; mail-in module service is available nationwide.
Platform
N280 (5th Gen, 2010-2023)
Production
2003-present
Trim Levels
Multiple trim levels available. ADAS feature availability varies by trim and options package. Contact us for specific trim calibration requirements.
Drivetrain
RWD / 4WD
Engine
-
CAN Speed
Multi-CAN bus (PT-CAN powertrain, Body-CAN, AVC-LAN); OBD2 DLC Pin 6/14 CAN 500kbps
YEAR-SPECIFIC NOTES
Infotainment
Toyota Entune 3.0
Exact-year service summary for 2021 Toyota 4runner
ADAS coverage
This 2021 Toyota 4runner page documents 6 ADAS systems, including Forward Camera (Monocular), Forward Radar (77GHz), Pre-Collision System / AEB (TSS-P), and Lane Keep Assist / Lane Departure Warning (LKA/LDW).
View ADAS dataCalibration triggers
Documented calibration triggers include Windshield Replacement (TSS-P TRD Pro / Limited only), Forward Camera Replacement (TSS-P only), Forward Radar Replacement (TSS-P only), and Skid Control ECU Replacement. Use the ADAS tab for the full trigger list.
View triggersProgrammable modules
This page indexes 24 programmable module records across SRS, ECU, BCM, TCU/TCM, ABS, and IPC coverage.
View modulesGateway and security
This page includes 5 gateway, immobilizer, or key-security records for this 2021 Toyota 4runner.
View securityCore Auto Logic capability
Core Auto Logic supports exact-year diagnostics, ADAS calibration, module programming, and security-access planning for the 2021 Toyota 4runner using the documented systems and module data on this page.
Choose a sectionWhat changes on this exact year
Feature availability
Toyota Safety Sense P (TSS-P) optional on TRD Pro and Limited only: Pre-Collisio - Available; Platform: N280 (5th Gen, 2010-2023) - Confirmed
Driver-assist suite
Toyota Safety Sense P (TSS-P) optional on TRD Pro and Limited only: Pre-Collision System/Automatic Emergency Braking, Lane Departure Alert, Radar Cruise, Automatic High Beams. SR5, TRD Sport, Trail Edition do NOT have Toyota Safety Sense P (TSS-P). Blind Spot Information System optional on Limited. Verify trim and window sticker before any ADAS work.
VIN and build split
VIN pos 4-8 identifies model/body/engine. Toyota WMI: 2T1 (Camry), 4T1 (Corolla/RAV4), 5TD (Highlander). Position 7 = engine. Position 10 = model year code.
Infotainment context
Toyota Entune 3.0; Entune 3.0 (8" touchscreen). Apple CarPlay (wired). No wireless CarPlay. Wi-Fi hotspot.
Network and access
CAN: Multi-CAN bus (PT-CAN powertrain, Body-CAN, AVC-LAN); OBD2 DLC Pin 6/14 CAN 500kbps
Tool access for this exact year
Representative tool access paths for this exact model year, gated by the vehicle data and source packet we currently trust.
Factory scan, coding, and calibration access
Toyota Techstream / Toyota GTS+
Factory routines and secure server authorization control this path when aftermarket coverage is not enough for the VIN.
ADAS scan, setup, and verification
Autel, Launch Tech, Topdon
Used where aftermarket coverage supports the procedure; OEM software remains required for locked factory routines.
Bench cloning and chip-level recovery
Alientech / Autotuner / Orange5 / Scanmatik / Flex / VVDI2 / PCMFlash / CGDI / X-Prog
Used only when the module, donor data, EEPROM, MCU, or crash-data workflow requires bench or chip-level handling.
Bench/chip-level only
Choose a section to view data
SUPPORTED SYSTEMS
What we service on this vehicle
Documented module coverage for the 2021 Toyota 4RUNNER. Counts reflect modules our techs have programmed or calibrated on this exact platform.
ADAS Calibration
6 modules documented
Forward camera, radar, surround-view and lane-keep recalibration after windshield, suspension or fascia work.
Open ADAS tabEngine / ECU Programming
5 modules documented
Powertrain reprogramming, calibration updates, replacement ECU configuration and security access.
Open Modules tabBCM / Body Programming
3 modules documented
Body control module, gateway and accessory programming. Includes feature-bit reconfiguration.
Open Modules tabTCU / Transmission
1 module documented
Transmission control module reprogramming, adaptive learning reset and replacement TCM clone.
Open Modules tabSRS / Airbag Reset
3 modules documented
Crash-data clear, hard-code reset and replacement airbag module configuration.
Open Modules tabABS / Brake Module
6 modules documented
ABS / EBCM bleed support, replacement module coding and yaw-rate sensor calibration.
Open Modules tabIPC, SAS & Other Modules
2 modules documented
Instrument cluster cloning, steering angle sensor calibration and other supporting modules.
Open Modules tabConnectivity & Accessories
4 modules documented
Infotainment radio, surround view, remote start, trailer brake controller and other equipped systems.
Open Modules tabRecalibration Triggers
13 modules documented
Service events that require ADAS recalibration on this vehicle. Tap to see what triggers what.
Open ADAS tabNeed something not listed? Most undocumented modules can still be programmed.
Get a QuoteFeature availability 2
Toyota Safety Sense P (TSS-P) optional on TRD Pro and Limited only: Pre-Collisio
AvailableCalibration required after windshield replacement, camera/radar service, or structural repair affecting sensor alignment.
Platform: N280 (5th Gen, 2010-2023)
ConfirmedVerify platform code matches when cross-referencing part numbers across model years.
WHAT WE RESOLVE
Common issues on this vehicle
Common Toyota 4runner issues we resolve on this platform: Forward Camera (Monocular), Forward Radar (77GHz), Pre-Collision System / AEB (TSS-P), and Lane Keep Assist / Lane Departure Warning (LKA/LDW) recalibration after windshield/bumper/suspension/CCM service. Module programming for replacement ECU/PCM, BCM, TCU, or accessory modules - N280 (5th Gen, 2010-2023) platform uses Multi-CAN bus (PT-CAN powertrain, Body-CAN, AVC-LAN); OBD2 DLC Pin 6/14 CAN 500kbps.
ADAS CALIBRATION MATRIX
ADAS systems on this vehicle
Toyota Safety Sense P (TSS-P) optional on TRD Pro and Limited only: Pre-Collision System/Automatic Emergency Braking, Lane Departure Alert, Radar Cruise, Automatic High Beams. SR5, TRD Sport, Trail Edition do NOT have Toyota Safety Sense P (TSS-P). Blind Spot Information System optional on Limited. Verify trim and window sticker before any ADAS work.
Scroll for part numbers and Details
| System | Type | Category | Cal. Type | Supported | Part # | Actions |
|---|---|---|---|---|---|---|
| Forward Camera (Monocular) | Camera | ADAS | Static | YES | ~86790-35070 (4RUNNER BOF SPECIFIC - (VERIFY VIA OUR DIAGNOSTIC SOFTWARE) | |
| Forward Radar (77GHz) | Radar | ADAS | Static + Dynamic | YES | ~88210-35030 (VERIFY VIA OUR DIAGNOSTIC SOFTWARE) | |
| Pre-Collision System / AEB (TSS-P) | Software | ADAS | None | YES | - | |
| Lane Keep Assist / Lane Departure Warning (LKA/LDW) | Camera | ADAS | None | YES | - | |
| Forward Radar (77GHz) | Radar | ADAS | Static + Dynamic | YES | - | |
| Blind Spot Information System (BLIS) - Limited | Radar | ADAS | Static + Dynamic | YES | ~88162-35010 (L), ~88161-35010 (R) (VERIFY VIA OUR DIAGNOSTIC SOFTWARE) |
ADAS SYSTEM
YES Supported
Identification
- System type
- Module category
- Sensor location
Part Numbers
- OEM
- Alternative
Calibration & Triggers
- Calibration type
- Programming approach
- Requires PMI
- Trigger events
Technical Notes
- Chip / MCU
- Service notes
Need this calibrated?
Get a quote for ADAS calibration WHEN IS CALIBRATION REQUIRED?
Triggers for ADAS recalibration
Windshield Replacement (TSS-P TRD Pro / Limited only)
Forward camera static cal. Techstream: level surface, N280 4Runner WSM target distance - verify via TIS. BOF hood height differs from car platforms. Do not use Camry/RAV4 cal specs.
Forward Camera Replacement (TSS-P only)
Techstream camera init + static cal. DTC clear. Road test TSS-P.
Forward Radar Replacement (TSS-P only)
Techstream radar init. Verify aim per N280 WSM. DTC clear. Confirm Radar Cruise and PCS.
Skid Control ECU Replacement
Techstream ABS/VSC init + SAS zero-point. 35+ mph straight. TSS-P equipped: verify camera/radar aim after suspension work.
Suspension Lift / Alignment Work
SAS zero-point mandatory. TSS-P equipped: verify camera/radar aim - BOF lift height significantly affects aim geometry.
ECM Replacement
Techstream programming + VIN + IMMO + throttle zero-point.
Smart Key ECU / Body ECU Replacement
TIS authorization. All keys present. Techstream Smart Key registration.
TPMS Relearn
Techstream relearn after wheel/tire change.
Any Front-End Collision
Inspect and recalibrate forward camera after any front-end collision using Techstream.
Front Bumper Repair or Replacement
Forward radar angular alignment required after front bumper R&R. Use Techstream.
Rear Bumper Repair or Replacement
BSD radar alignment required after rear bumper R&R. Use Techstream.
BSM Sensor Replacement
Blind spot monitoring sensor replacement requires calibration using Techstream.
Mirror Replacement
If BSD sensor is mirror-integrated, recalibration required. Verify sensor location; use Techstream if applicable.
SRS Modules
SRS Control Unit 89170-35500
- Part number
- 89170-35500
- Location
- Under center console
- Manufacturer
- Denso
- Notes
- Requires Techstream or J2534 for SRS reset. DTC B1650 common post-crash. Battery disconnect and 90-second wait before removal.
SRS Control Unit 89170-35500
- Part number
- 89170-35500
- Location
- Under center console
- Manufacturer
- Denso
- Notes
- Requires Techstream or J2534 for SRS reset. DTC B1650 common post-crash. Battery disconnect and 90-second wait before removal.
SRS Control Unit 89170-35500
- Part number
- 89170-35500
- Location
- Under center console
- Manufacturer
- Denso
- Notes
- Requires Techstream or J2534 for SRS reset. DTC B1650 common post-crash. Battery disconnect and 90-second wait before removal.
ECU Modules
ECM - 4.0L 1GR-FE V6 ~89661-35 (VERIFY VIA TIS)
- Part number
- ~89661-35 (VERIFY VIA TIS)
- Protocol / method
- Techstream + TIS (online all-data; VIN-registered). Bench: EEPROM programming tool / advanced programming tool via Denso connector + TC275/RH850 BDM. BSM/IMMO coding required after swap.
- Chip / MCU
- Renesas RH850/P1M (Denso 32-bit automotive MCU; verify via bench inspection)
- Notes
- Techstream programming + VIN + IMMO + throttle zero-point.
TCM - 5-speed Automatic (A750F) ~89535-35 (VERIFY VIA TIS)
- Part number
- ~89535-35 (VERIFY VIA TIS)
- Protocol / method
- Techstream init + fluid fill. Adaptive shift relearn ~100-150 highway miles. TCM programming via Toyota TIS or bench EEPROM programming tool.
- Chip / MCU
- Renesas V850ES/P1 (Denso legacy TCM MCU)
- Notes
- Techstream init. Adaptive relearn 100+ miles.
TCM - 6-speed Automatic (A960E) ~89535-35 (VERIFY VIA TIS)
- Part number
- ~89535-35 (VERIFY VIA TIS)
- Protocol / method
- Techstream init + fluid fill. Adaptive shift relearn ~100-150 highway miles. TCM programming via Toyota TIS or bench EEPROM programming tool.
- Chip / MCU
- Renesas V850ES/P1 (Denso legacy TCM MCU)
- Notes
- Techstream init + adaptive relearn.
4WD Control ECU
- Notes
- Techstream 4WD init. A-TRAC, Crawl Control, MTS verify.
Display Audio (Entune 3.0)
- Protocol / method
- Techstream audio init + OTA-capable on 2022+ platforms. Linux-based Audio Multimedia system on 2022+ (Toyota Audio Multimedia platform).
- Chip / MCU
- Qualcomm / Renesas R-Car family (head-unit SoC)
- Notes
- 8" screen. CarPlay wired. No OTA.
BCM Modules
Body Control Module (BCM) ~89220-35100 (VERIFY VIA TIS)
- Part number
- ~89220-35100 (VERIFY VIA TIS)
- Notes
- Smart Entry, locks, lighting. Techstream init + Smart Key re-registration.
Smart Key ECU ~89990-35100 (VERIFY VIA TIS)
- Part number
- ~89990-35100 (VERIFY VIA TIS)
- Notes
- TIS authorization + Techstream. All keys erased on replacement. Max 8.
Integration Relay / Power Control
- Notes
- Techstream body network verify.
TCU / TCM Transmission Modules
TCU - A750F 5-Speed Auto 89530-35
- Part number
- 89530-35
- Protocol / method
- J2534
- Coding required
- Yes
- Cloning supported
- Yes
- Chip / MCU
- Renesas SH7058
- Notes
- ATF WS required, shift relearn via Techstream, VIN coding mandatory
ABS / Brake Modules
Skid Control ECU (ABS/VSC/TRAC) ~89540-35100 (VERIFY VIA TIS)
- Part number
- ~89540-35100 (VERIFY VIA TIS)
- Notes
- Techstream ABS/VSC init + SAS zero-point. Level road 35+ mph. Mandatory after lift/alignment. TSS-P equipped: verify radar/camera aim after suspension lift.
Wheel Speed Sensor - Front Left ~89542-35 (VERIFY VIA TIS)
- Part number
- ~89542-35 (VERIFY VIA TIS)
- Notes
- Active magnetic. DTC clear + road test.
Wheel Speed Sensor - Front Right ~89543-35 (VERIFY VIA TIS)
- Part number
- ~89543-35 (VERIFY VIA TIS)
- Notes
- Same as front left.
Wheel Speed Sensor - Rear Left ~89546-35 (VERIFY VIA TIS)
- Part number
- ~89546-35 (VERIFY VIA TIS)
- Notes
- Solid rear axle. DTC clear.
Wheel Speed Sensor - Rear Right ~89545-35 (VERIFY VIA TIS)
- Part number
- ~89545-35 (VERIFY VIA TIS)
- Notes
- Same as rear left.
Other Modules (IPC, SAS)
Instrument Panel Cluster (IPC) 83800-35R30, 83800-35S20
- Part number
- 83800-35R30, 83800-35S20
- Cloning supported
- Yes
- Notes
- IPC cloning required for mileage preservation during replacement. Use Launch advanced programming tool or EEPROM programming tool for EEPROM read/write.
Steering Angle Sensor (SAS)
- Coding required
- Yes
- Notes
- INTEGRATED (spiral cable 89245 family)
Connectivity & Accessories
Backup Camera
- Notes
- Standard on multiple trims. Techstream registration if replaced.
TPMS Sensors
- Notes
- Techstream relearn. Very common on lifted/aftermarket wheel builds.
Crawl Control / Multi-Terrain Select
- Notes
- Techstream verify after ECU replacement.
KDSS (TRD Off-Road only - NOT TRD Pro, NOT Trail)
- Notes
- Verify trim - Trail Edition and TRD Pro do not have KDSS. TRD Off-Road does.
ARCHITECTURE & CONNECTIVITY
Architecture & Connectivity
- Body Construction
- Body-on-frame; high-strength steel ladder frame; solid rear axle / IFS
- OBD Protocol
- ISO 15765-4 CAN (500 kbps)
- CAN Architecture
- Multi-CAN bus (PT-CAN powertrain, Body-CAN, AVC-LAN); OBD2 DLC Pin 6/14 CAN 500kbps
- Infotainment
- Entune 3.0 (8" touchscreen). Apple CarPlay (wired). No wireless CarPlay. Wi-Fi hotspot.
- OTA Capable
- No
- Infotainment Name
- Toyota Entune 3.0
- ECU/TCM Unlocking
- Contact us
- ECU/TCM Flashing
- Confirmed
Reviewed coverage: 2021 - 4.7L (2UZFE), 4.7L 4x4 (2UZFE).
Confirm the exact engine, ECU, and any prerequisite access method before service.
OPENPILOT / COMMA.AI
Openpilot Compatibility
Not Supported
Not supported - not in openpilot tree
Not in openpilot support tree as of April 2026. 4Runner is not TSS 2.0/2.5 equipped in current generation; 2025+ new generation not yet ported.
FREQUENTLY ASKED QUESTIONS
FAQ
How much does ADAS calibration cost for a 2021 Toyota 4runner?
ADAS calibration pricing for a 2021 Toyota 4runner depends on which of its 6 documented systems need work after a repair. This vehicle is documented with Forward Camera (Monocular), Forward Radar (77GHz), Pre-Collision System / AEB (TSS-P), Lane Keep Assist / Lane Departure Warning (LKA/LDW), and Blind Spot Information System (BLIS) - Limited. 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 so the quote response can include a real number.
Can you reset the airbag light on a 2021 Toyota 4runner?
Yes. The 2021 Toyota 4runner 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: 89170-35500. Mobile diagnosis and programming are available in DFW, and mail-in module service is available nationwide. Send the part number and a description of what triggered the light, and we will provide a quote and scheduling window.
What is needed after replacing the windshield on a 2021 Toyota 4runner?
After windshield replacement on a 2021 Toyota 4runner, Forward Camera (Monocular), Forward Radar (77GHz), Pre-Collision System / AEB (TSS-P), and Lane Keep Assist / Lane Departure Warning (LKA/LDW) rely on the forward-facing camera and require recalibration before the systems return to operation. We perform the calibration on-site in the DFW Metroplex with OE target fixtures. Mail-in module service is available nationwide for eligible module work.
How long does a 2021 Toyota 4runner module service take?
Most 2021 Toyota 4runner onsite jobs are typically scheduled within 24-48 hours once vehicle readiness, access, and route timing are confirmed. This vehicle has roughly 24 programmable modules documented in our database (5 ECU, 3 BCM, 1 TCU, 6 ABS, plus IPC/SAS/gateway/accessory). Mobile module work and ADAS calibration are scheduled in the DFW service area after quote review. Mail-in module service is available nationwide.
Do you cover the 2021 Toyota 4runner on-site, or is this mail-in only?
We run a mobile unit across the DFW Metroplex for on-vehicle work (ADAS calibration, post-repair recoding, and supported module work). Mail-in module service is available nationwide. Quote the work and we will confirm the active service path for the 2021 Toyota 4runner. Do not ship a module unless support confirms next steps.
What kind of warranty do you offer on 2021 Toyota 4runner programming?
Every programming, cloning, and calibration job on the 2021 Toyota 4runner 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.
Which modules on a 2021 Toyota 4runner can you actually service?
We program, clone, repair, or replace the full programmable-module stack on a 2021 Toyota 4runner. For this vehicle our database documents:
- 5 engine control (ECU/PCM)
- 1 transmission control (TCU/TCM)
- 3 body control (BCM and related)
- 6 ABS / brake control (EBCM)
- 3 immobilizer / security
- 2 key & fob
- 1 instrument cluster (IPC)
- 1 steering angle sensor (SAS)
- 6 ADAS module
Infotainment on this platform: Toyota Entune 3.0. Send the VIN and the operations performed and we will confirm support and pricing.
Additional Module Part Numbers
Additional OEM-sourced part numbers for the 2021 Toyota 4RUNNER covering ADAS, ECU/PCM, BCM, TCU/TCM, SRS, ABS/EBCM, instrument cluster (IPC), gateway, and steering angle sensor modules when available. These reference numbers assist technicians with module identification and sourcing prior to programming.
- ADAS Module Part Numbers
- 8646C-0W010
- ECU / PCM Part Numbers
- 89661-35M00, 89661-35M80
- BCM / Body Module Part Numbers
- ~89220-35100 (VERIFY VIA TIS), ~89990-35100 (VERIFY VIA TIS)
- TCU / TCM Part Numbers
- 89530-35
- SRS / Airbag Module Part Numbers
- 89170-35500
- ABS / EBCM Part Numbers
- 44050-35100 (STANDARD), 44050-35110 (KDSS)
- Instrument Cluster (IPC) Part Numbers
- 83800-35R30, 83800-35S20
- Transmission Control Module (TCM) Part Numbers
- 89530-35
- Steering Angle Sensor (SAS) Part Numbers
- INTEGRATED (SPIRAL CABLE 89245 FAMILY)
Part numbers are OEM base references. Verify exact suffix via VIN-specific build data before ordering. Core Auto Logic provides mobile programming services for all listed modules in the DFW area.
Different trim or build?
Send your VIN and we'll confirm exact module support and pricing in the quote response.
Hit a security wall? We've got the keys.
1-year unlimited warranty on every flash and calibration.
Shared module fitment
Vehicles sharing modules with the 2021 Toyota 4runner
These vehicles use one or more of the same replacement modules indexed for this vehicle.
Finish the repair
Need help finishing this repair?
Get onsite help in Dallas-Fort Worth. Ask about same-day availability or a one-time remote session for eligible non-VSP work.
Techstream / GTS+ Explore one-time factory coding and programming. We confirm the software and procedure for your vehicle. Module programming & recovery Replacing a module or dealing with a failed programming attempt? Send the part numbers and fault scan for review. Onsite tools & equipment Bring in a technician or ask about hourly, daily and weekly rentals where licensing and equipment availability allow.