Have you tried recalibrating the truck? If not i'd reccommend that. 573 and 574 are very similar except 573 is for down and 574 is up. 557 is for the traction motor which has no close relation with the lift system, these are almost 2 diffrent issues. If recalibrating dosent work i would start by taking a dvom and testing the cuircuits or using the analyzer menu built into the trucks to seecwhat the truck sees. That may narrow down the issue to an electrical or component issue.

Event Code 573-574
Access 4 Height Encoder 4 (ECR4) or Encoder 6
(ECR6) Count Error.

Did you find what's wrong with the code 573? I have the same problem.