Clean and check all connectors to sensors, i.e hicas computer, speed signal wire, steeringwheel angle sensor etc.
The diagnostic thing is funny, after heaps of badly written tutorials and manuals I finally got it to work. If your light is flashing, you actually need to get it out of diagnostic mode first before you can reset it. If you do it correctly the light should flash at a slightly slower rate (watch closely!!) then do the reset.
If its the stock ECU might aswell reset it to eleminate any problems. Learns fuel mixtures faster
R32 is definately hydralic, R33 electric
A lockbar isnt a good fix. It only fix's a small part of the problem i.e. that being the rear wheels in a straight line, what about the other angles?