well I figured I'd do it anyway since its my first repair since getting the car... I replaced it and cleared the codes. TC light came back and it still says service Stability/TC system, Stability/TC off. Read code it says C0197 as before.
...I might just leave it for now. If I do need to replace the sensor, rock auto has it for 230, lol. It doesn't effect drivability.
***update yaw sensor is located under the center console