The hicas light is referring to the four wheel steering most of the time. It's telling you it's not working properly but it's working fine. The light only comes on after driving on open straight roads for a period of time. The best solution is to have the rear wheel steering disabled with a lock bar( a simple piece of round bar put in place of the hydraulic ram that steers the rear wheels) The solution will prevent crabbing and makes the car more controllable while the car is drifting. The light will continue to come on after this but just ignore it. You have to remember these cars with hicas were built for tight streets in japan so when the car is not turning regularly it thinks something is wrong.
