Karl
If you have a seized level sensor arm either change it or lubricate it as it really could be your issue. Fix faults first other wise trying to reset Fault Codes is a waste of time as they will just return. As I understand it each Headlamp has 3 modules (1) a main Headlamp module (2) a Headlamp Control Module (3) a Cornering Module make sure the plugs are clean unplug them a spray with Contact Cleaner and reconnect making sure they are seated correctly
Then try disconnecting the battery to clear faults
Dave