ERROR SYSTEM UNABLE TO ACCESS THE PROGRAM GPS VOICE NAVIGATION TOYOTA AVENSIS 2004

The system needs to be diagnosed with a factory special tool, take it to the dealer and have that done.

Set Baud to 57600

You don't. It is a programing error.

Have you checked the idle air controll? You could try cleaning the maf sensor also

This code is associated with your ABS SYSTEM. TRY DELETING THE ERROR FIRST.

The irony of this is that the handbook is in English
For Toyota Avensis from 2003:
My console has a screen with a row of buttons below it and a centre mounted knob (the enter knob)

press Menu (1st left of knob)
select SETTING from navigation menu (on screen)
oddly you need to read the foreign language to do this one)

turns out mine was in german so not too hard, third down IIRC

select LANGUAGE from SETTING end press ENTER (knob)
again, I guessed which was 'language' by trial and error

select Km or miles press knob

leave well alone lol

Let's face it, if it was in English we'd not need the instructions, just time.
Good luck (you'll need it)

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1.Press the "Menu/Select" button.
2.Use the up or down arrows to navigate to the "Voicemail Setup" option and press "Menu/Select."
3 .Navigate to the "Access Number" option and press "Menu/Select."
4 .Use the number pad to enter your voice mail access telephone number provided by your telephone company. Use the "Mute/Remove" button to delete any numbers entered by mistake.
5.Press "Menu/Select" to hear the confirmation code.
6 .Program the "Password," "Play," "Erase," and "Skip" options following the above steps, substituting the "Access Number" option in step three with the option you desire to program.
7 .Dial your voice mail by using the "Voicemail" button on the telephone.
8 .Listen and follow the prompts provided by your telephone company to set up your voice mail's greeting.
9 .Use the "Voicemail" button any time you wish to dial into the system to listen to voice mail. Use the programmed "Play," "Skip," and "Erase" options to navigate through your messages.

Have you tried to reset everything to Factory state? Both GPS and System? If it doesn't help then restore Sanyo map software from supplied DVD. Something must be missing or corrupted.