Ruslan

This codes starts from “U” which corresponds to network. Check fuses and wiring, specially if some wiring works was done recently or new equipment has been installed.

I would start from checking fuses.

If power door working, it’s can be only faulty lock.

If you have Toyota amplifier it’s won’t be easy. What Grade is your Estima? X or G? if your car without amp it’s straight forward installation with adapter from eBay. Search for Toyota to ISO or something like this. When I changed head unit on my motor I requested adapter for Toyota plug from seller.

First thing you need to do is to remove the radio and to make sure that antenna is connected. When radio is removed you can follow the cable and find location if antenna.

Maybe some problems with GPS antenna.

I would check all tyres for balancing, also fuel filter.