Engine light on in '04 TL

Hey Guys, My 04 TL engine light came on and I pulled the following codes with the Actron CP9580A code reader:

P2237 O2 SENSOR Bank 1 sensor 1 malfunction. (engine code)
61-1 ABS Battery voltage malfunction current. (ABS code)
25-1 ABS Yaw rate sensor malfunction current. (ABS code)
26-1 ABS Lateral acceleration sensor malfunction current. (ABS code)
83-1 ABS Engine control module (ECM)/Powertrain control module relation malfunction current. (ABS code)
86-1 ABS Control Area Network Relation malfunction current. (ABS code)

I had the O2 sensor from the top of in front of the radiator fan as it is bank 1 sensor 1 replaced and it has since been reading open circuit.

The battery was tested by Autozone and Advance it's rated at 440Amps while loaded with 487Amps of current read which is more than good. That's telling me that the car computer is lieing to me lol...

I read some post about bad Yaw Rate Sensors, but they all mention the the ABS light or the VSA light on in the dash but my car has no other light on except for the ENGINE light.

Anyone who had a similar experience with a third generation TL please share your solution.

Thanks!