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Yes you can use Torque or DashCommander to read and clear the codes. They also give you a description of the code, so you don't have to guess.
I use one of these with Torque, found on ebay.....

I've had it blocked for over a year now and unfortunately nothing I've tried has helped, it will come up regularly. I've noticed it pops up mostly when I put it under load, but I have a bluetooth...

I wasn't aware of this piece of info, I've had it blocked now for over a month.. is it still worth doing this?