How to calibrate the angle sensor of the direction

I have a 2002 Toyota Sequoia 4x4 station wagon. I had serious headaches with the ABS braking system, and well, I already repaired it. Now, to make it perfect and ensure the braking and stability system works well, I need to calibrate the new steering angle sensor replacement part for this station wagon. According to what I found online, there are two ways to do it: one with the Toyota scanner, resetting the parameters to zero, and the other, which would work for me, is the manual or mechanical method since even Toyota doesn't have that scanner here. Could someone please send me the manual in Spanish or tell me step-by-step how to perform this calibration? Even when you change the VSC Track module (ramp control or stability control), you have to reset it to zero. This will also be useful once I've calibrated the steering angle sensor.
Thanks. Ref. fault C1231/31. If I can't do this, I won't be able to get the new ABS module I replaced to work properly; this will happen to everyone.