Rear heated oxygen sensor compensation.
Error Code :436 Loss of comm usually means a connector is to blame, first step would be to pull and inspect the connectors (in this case, the headlight switch and the cluster module) for damage, or a pin that has been shoved back, then reseat them. If that doesnt fix it, then the PITA job of looking over the whole harness for pinch points.
When any of the speed sensors or the yaw rate and acceleration sensor has trouble, DTCs for the steering angle sensor may be stored even when the steering angle sensor is normal. When DTCs for the speed sensors or yaw rate and acceleration sensor are output together with DTCs for the steering angle sensor, inspect and repair the speed sensor and yaw rate and acceleration sensor first, and then inspect and repair the steering angle sensor.