I have a fleet of these toyotas, and this is a new one for me. Truck operates fine for about 5-10 minutes. The it will randomly shut down, disabling travel and power steering, and display codes AC-1, AD-1 & AD-5. Then you key off and back on, the truck then shows CB-2, and beeps but does operate. Re-key truck again, and it clears all codes and will operate fine for approx 5 min or less.

The only pattern I can find is that it seems to do this on declaration. Mostly when you slow down for a stop sign, or an upcoming turn. I believe its in the drive circuit, however the service manual is very vague on troubleshooting these problems.

Any advise, suggestions, anything? Im about to start swapping parts with anther truck until I figure this one out. But I hate doing that.