VSC and front Collision malfunctions/towing

New member to the forum. This is our 8th Toyota and its a Taco 4x4 sport. The truck had about 40 miles on it and we hooked up our camper, about 3500 pd. With a weight distribution hitch and sway control. We were bringing the camper in to have the WDH aligned properly for the new Taco.

Enroute to RV service the steering wheel was about 30 degrees to the left. We were just figuring it was bc we needed the WDH done properly. We got the WDH done and the steering seemed better. We stopped at a gas station and shortly after we left the VSC and front collision sensors went crazy. The steering wheel was loose and it now shifted to the right. We brought it right to Toyota bc that is what the dashboard said to do.

It’s a long story of BS from them but after 3 days they told us the YAW sensor needed to be recalibrated and it is all good now.

Somehow this does not make sense to me?? Any advice out there? We get the truck back Monday.