Once that code is set I do not think it will clear itself from simple driving a cycle similar to some emission CEL lights. Before going to the trouble of getting at the ORC I would get a DRB III scan tool or emulator and clear that code. It may just be that since the RCM is back up and corrected you are fine with the air bag system, but simple need to clear the code. Getting the right scan tool is a job in itself. Good luck!