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I'll respond to my own post as I've figured out the problem.
I replaced the ride height sensor, and it was an easy thing to do. You don't even need to remove the rear tire. I put it on ramps, and though it was a bit awkward, there were only 2 screws and 2 nuts holding it in place. Pull the wiring connector, and it's off. I replaced the small plastic connecting rod at the same time, even though my old one was fine. Once replaced, there was nothing to calibrate or adjust. It was good to go. I used my code reader to clear the codes, but my errors on the dash went away right after the replacement.
Just in case anyone has to change it out, it's very easy."
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