^So is a dealer/service the only way to get the code scanned?
I'm not really sure what you're options are, but it at least gives you a search term to try and see how people have done it in the past. Maybe someone figured out a cross-reference that works. Despite how much I hate a bad diagnostic approach, I hate going to dealers even more. I looked in the service manual, and it is intentionally vague about the codes, but I think these are the options available:
BATTERY VOLTAGE System voltage
BRAKE LIGHT SW. Brake light switch
FL WHEEL SPEED Front left wheel speed
FR WHEEL SPEED Front right wheel speed
RL WHEEL SPEED Rear right wheel speed
RR WHEEL SPEED Rear right wheel speed
FRONT WHL SPEEDS Front wheel speed
REAR WHL SPEEDS Rear wheel speed
That's a pretty easy list to troubleshoot, but then again you don't actively have a problem. If you go around yanking wires to find which one was loose, you might end up just creating a new problem. Until the light comes back on, I think you're best two options are to go to a dealer or to pretend nothing ever happened. I'd lean towards the latter, honestly, if a visual inspection doesn't show anything obvious.