I WAS going to say yaw rate sensors are typically external to the brake control module, usually bolted to the floor of the car under the driver's seat or centrally below the center console, but the shop manual is making a fool out of me, the relevant DTCs refer to it as being internal, system diagrams show no external sensor and there is no remove/replace header for a stand alone yaw rate sensor.
Huh,I guess I'll go to bed less dumb tonight.
The OBD scanner glitches throw Uxxx communication codes, not this type of stuff.
this guy seems to have lived the same issue and just resolved to remove the fuse. I would still have liked to look at the freeze frame data for some base vitals like control module voltage. Since this happens at the track the unit may be working very hard, can you point a IR thermometer/thermal imager at it when the issue surfaces?