See if this helps, I'll look for info on the rears next.

Front Ride Height Resetting — Clear B2140 DTC

Turn the ignition key OFF and turn it back to RUN; exit the vehicle, close all doors and allow the system to vent the vehicle down to kneel height (approximately 30 seconds).
Connect scan tool to the data link connector (DLC).
Select the proper vehicle year, model and engine type.
Select 4WAS-AIR SUSP/EVO (4x2 and 4x4) module.
Select "Parameter Reset Command (Clear Ride Height) under Active Command Modes" menu, trigger through the warning messages and reset (trigger from OFF to ON):
scan tool version 10.0 — "Front" and "Rear."
scan tool version 11.0+ — "Front CLR."
Back out the torsion bar adjustment bolt (approximately 40 mm from the bolt head to the bottom surface of the torsion bar adjuster).
Deflate the front air shocks by using the scan tool "Vent Front" command in "Air Suspension Control" menu (should take about 30 seconds), and jounce the front of the vehicle to fully lower the front of the vehicle.
Adjust and measure the vehicle ride height; refer to Section 204-01B .
NOTE: Do not save rear ride heights. The air suspension control module has precalibrated values already stored. Refer to Rear Ride Height Mechanical Resetting.

Select the "Save Calibration Values (Store Ride Height)" scan tool command to calibrate the air suspension control module. Trigger through the warning message(s) and save "FRONT" (trigger from OFF to ON).

Rear Ride Height Mechanical Resetting

Turn the ignition key ON.
Connect scan tool to the data link connector (DLC).
Select the proper vehicle year, model and engine type.
Select 4WAS-AIR SUSP/EVO (4x2 and 4x4) module.
Measure vehicle rear height (driver side) from the bottom of the frame to the rear jounce bumper bolt rear side of head base.

Using scan tool, adjust rear height to 146.8 ± 2 mm by moving the rear of the vehicle down using the active command ("VENT_REAR") or by moving the rear of the vehicle up ("LIFT_REAR") in PID RHGTSEN.
Monitor the rear height sensor voltage on the right side of the scan tool screen.
Loosen the ball stud nut on the rear air suspension height sensor bracket and adjust it by moving it with the air suspension height sensor up or down until the voltage is 2.66 ± 0.02 volt.
Tighten the ball stud nut.