For hicas also, theres a sensor in the steering wheel that can sometimes loose it's connection if it's not moved for a while... Example, driving on a freeway and making very little to slight turns. My Hicas light used to do this. It wasn't doing any damage, just came on.
The could be quite a few reasons, best bet would be to get it data streamed and see what faults are coming up. Not many places have the data streamer, mainly Nissan Caryards IIRC. Although, Gavin Wood does have one.
That's how all my faults were diagnosed when I first got the car, hicas light came on after driving for like 2 minutes and stayed on. Turns out that a wire between the speedo and computer had been cut so the computer wasn't getting the signals. Along with hicas, abs, speed limiter and many other things weren't working.