Fortunately I don't have much experience with the AHC specific codes and how to interpret - there is plenty of info in the FSM but apparently it can sometimes be misleading.
uHu seems to have a lot of experience there so maybe he can chime in and I'm sure others have dug deeper into the nitty gritties.
Here's what the FSM says about diagnosing both those DTCs, maybe it'll help:
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Regarding C1762/62,
DTC Detecting Condition is
1) While the motor relay is in operation, the condition that the fluid pressure is less than .5 MPa continued for .6 seconds.
2) When the pump motor is in delivering condition, the delivery portion does not change and the fluid pressure change is small.
Trouble Areas are: AHC Pump and Motor, Fluid Pressure Sensor, AHC Motor Relay, or Fluid is Empty.
Fail Safe Function:
If the DTC C1762/62 is detected, the height control is prohibited after adjusting the vehicle height to the standard height in case that the height is higher than the standard or to the lowest wheel of the 4 wheels in case that the height is lower than the standard.
See the FSM for more details but here's a summary of the inspection procedure: check fluid of the reservoir tank, check operation of AHC pump & motor, bleed air of AHC & AVS hydraulic system, Check AHC motor relay, check for open and short circuit in harness and connector b/w fluid pressure sensor and suspension control ECU, check fluid pressure sensor. Each of those checks has numerous detailed steps so you really need the FSM for more detail.
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Regarding C1751/51, the Circuit Description is "In case that the height control has not consisted in spite of performing the raise control for a certain period of time, the ECU interrupts the height control."
The DTC Detecting condition is "When the rise control completion condition has not consisted in spite of turning on electricity to the relay for the following period of time LO to N 85 Seconds, N to Hi 100 seconds."
Trouble Areas are: AHC pump & motor, AHC pump & motor circuit, AHC motor relay, height control sensor link comes off, Fluid Leakage from the fluid line or each solenoid valve, Fluid clog in the fluid line or each solenoid valve, Torsion bar spring.
Fail Safe Function: "If trouble occurs, the height control is prohibited after adjusting the vehicle to the standard height in case that the height is higher than the standard or to the lowest wheel of the 4 wheels in case that the height is lower than the standard."
The inspection procedure has you check the fluid level, check fluid leakage, check that the heigh control sensor link has not come off, check fluid delivery pressure of the AHC pump motor, check the AHC motor relay, and check for open and short circuit in harness and connector between AHC pump motor and suspension control ECU, AHC motor relay and battery.
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So - you say you checked fluid level and it's ok. I'll take your word for that. You say you checked for leaking ok.
Take a look at the other trouble areas for both DTC's as quoted above. That should give you plenty to look at and hopefully eliminate/isolate.
Also interested in your answers to jOnathN's questions - basically more info on your vehicle's history and symptoms leading up to this point.