C16111 code

2009 Kia Sedona LX: The TPMS light is off and on for about 2 weeks (intermittent) and then the check engine light comes up. Auto Zone scanned and came up with code C1611. From your previous post, this code could indicate Steering issue (but it is fine), ABS (brake is fine and no ESC light) and COULD be TPMS? The TPMS can be ON when driving on early morning (cold) and disappeared after 5 minutes of driving. Discount Tires twice checked all TPMS sensors of each tire and confirmed they are good. I suspect the code C1611 is the communication issue caused from TPMS but I do not know where to start. Please help. Thanks