Usually it's the speed sensor. But-it relates to a few things sometimes. http://www.obd-codes.com/p0500 Hope this helps!!
I’m happy to assist further over the phone at https://www.6ya.com/expert/shannon_b38635e8878032de
SOURCE: 2004 Toyota Camry Brakes
Raise the vehicle up and remove the rims & tires
Remove the brake pads, and then remove the calipers from the caliper retention brackets, do NOT remove the brake hoses from the calipers.
Remove the caliper retaining brackets from the hub assemblies (2 large bolts on backside of the bracket)
Tap the brake rotors off of the hubs, hit them from the back side of the rotor.
No big mysteries here, this is a very easy job.
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