I have a 2018 Toyota Camry with 32K miles on it. It is just out of factory warranty by a month. While driving down the interstate the code ICS Malfunction - Visit your Dealer came on. It appears that the parking assist is not working. I cleaned the sensors out with WD-40 and it made no change. They lane assist function is not working either. That is the function that keeps the car in the lane and prevents it from going into the other lane. I do not think those sensors even use the same ones as the parking sensor. Maybe it is off by default because of the error? It still seems to work if a pedestrian walks up to the side rear of the car which I think does use the parking assist sensors? The only thing I have read online is that is was between $600 and $1200 to repair this at a dealer. The parking assist sensor( There are eight f them) is $194 at the dealer and $28 at RockAuto. Does anyone know if an inexpensive scan tool is available to diagnose this problem? I really do not want to take both bumpers off the car to look for loose connectors or broken sensors. Everything is covered by plastic panels and not accessible.