If you've replaced the sensor, then there can only be an issue in the wiring or a connector.
The next easist step is to clean the connector that hooks up to the sensor. 99.9% sure it won't be this, but do it anyway..
After that, I would start by unplugging the battery(s) again, then disconnecting the ECU plug and reconnecting it about 10-20 times just in case the connection there is crappy.
Failing this, then I can only recommend a Toyota specialist, but be prepared to grab your ankles because it won't be cheap. If I was to trust anyone with my car, it would be Simon at S&B (0433 243 308).
It sounds as though it may be something that you can live with though. I have an engine error code pop up on mine every time I floor it because I have spaced the wategate to increase boost and the error is in the turbo sensor. As long as it comes on only every now and then for a couple of seconds at a time, then I would be inclined to ignore it, but still give Simon a call. He's the guru for the Surfs in WA.
Also, I just noticed the issue with the 4WD light. If you're hearing the system engage, then the first easy fix is to replace the globe in the fascia panel.
Thanks Allen You have been very helpful