Let's start with the p0340. That is a camshaft position sensors faulty or damaged . Usually this code mean the sensor is bad. It is possible the wiring can be the cause. Some rare cases a broken cam gear or shaft or a engine completely out of time. 

C1515 torque sensor zero value point adjustment zero. The sensor, wiring or harness is broken or damaged . Recalibration may have to been done. 

C1201 ecm,abs, traction.C1201  code is common on lexus when the brake pads wear out and the the caliper pistons extends to maximum. 

VSC and TRAC are prohibited by the fail-safe function. Check all connections and wires for any loose or broken pin or wires.

Your going to have to check all the harnesses and wiring for each unit . Also check all fuses and relays. The cam shaft sensor most likely is bad but you can ohm it check for proper voltage and ground. Same with steering check all fuses,relays, harness and wiring . Ty he steering might have to be replaced or sensor is bad.  The caliber maybe bad or piston has. Breaks need to be replaced and piston reset.

There is a chance your ecm is bad and needs to replaced. Either way check everything listed first. The things I listed are the most common fixes , causes or ways to check.