yes there is a jumper sequence from the 16 pin connector, but if you dont follow correct procedure you might make it worse, the steering completely shuts down and goes to manual - which is a giant PITA.
Its a timed sequence of specific actions - I had a CF3 Accord delivered to me with such a problem in Karachi. it was electrician ustaadified including new "TOYOTA STARTER RELAY" jugaarbaazi in the wiring.
on the tester it takes 1 minute to reset and it is mostly required every now and then as people love to palm the steering extremely quick rather than use it as assist, they use it as a toy.