[xtac1080]

What is the voltage at idle? Any difference between voltage at the battery and at the ABS module? A 0.8V difference will cause C2112. An alternator putting out too high voltage might also cause this. If you can, try measuring the current draw while actuating each valve and see if any of them are excessively high (pull the abs valve relay fuse and put an ammeter in line). I'd try the same test on the ABS motor fuse as well. (ESC 1 & ESC 2 fuses)

C1643 I cannot lookup, but a CAN timeout usually means the module isn't broadcasting information. I'd fix C2112 first then try to learn the Yaw/Lateral sensor and see if it fixes C1643.