OK well I fixed it!!!
So I did all directions except I was unable to roll the car back and forth more than 5 feet (would have risked going down our steep driveway), so the suspension and EDC did not settle enough and I got a malfunction. So I pulled the 3 bolts off the circle thing rolled the car back and forth 15 feet while bouncing the car and also turning the steering wheel from lock to lock and now its fixed!!! So I can attest that is a very important step!!!
And the best part is that I don't have to go to the dealership to reset the code. Once I fixed it, it went away, AMAZING!!
MODS you can delete this thread if you want to, unless you think the information will be helpful to someone else!