No easy answer , You need to find out what the code definitions actually are, perform inspection and the pinpoint tests to find out the root cause and fix the problem. You might have to perform some sort of zeroing procedure or calibration of sensors and drive the vehicle straight ahead over a certain speed or turn steering from stop to stop. Depending on what some codes are ,you may not be able to clear codes until, initialization of windows are learned, or  certain maintenance procedures are completed and schedule reset, and codes cleared from other modules beforehand. 

 most likely something is not coded or configured correctly