What problems did you have as the yaw rate sensor very rare to fail may just need recalibrating with the toyota scan tool .
What malfunction codes did you have .
I would first check out a good repair shop that is set up to work on Toyota vehicles .
and see if you just need resetting .
see this many times where battery's have gone bad and set off this code so when new battery fitted just needed to reset the yaw .
Yaw rate sensor is located in the middle consul .remove this and you will see the sensor bolted down with two M10 bolts .
Kind regards Greg