Many thanks for responding so fast dschultz.
I checked and found the following (note: I'm learning as I go on some of the Impreza details):
- there is a silver box in the engine bay of the 2016 Impreza, part number 34710-FJ210 which says Hitachi. This is described in the parts diagrams as the "Controller - Steering". Somewhat confusingly, the mounts for the "Controller - Steering" are described in the parts diagrams as "Bracket - ECU". However, there is a similar Hitachi box in the 2014 Impreza, so I'm guessing this isn't the ECU (because RR could connect to the 2014 Impreza).
- there is a black box behind the glove box of the 2016 Impreza, part number 22765-AH100. This is described in the parts diagram as the "Unit - EGI Control" and I assume EGI means Electronic Gasoline Injection. Lots of Subaru ECUs on ebay seem to start with with part number 22765, like this:
https://www.ebay.com.au/itm/194263196716?hash=item2d3afd242c:g:6bMAAOSwqWphBBhk&frcectupt=true. So I'm guessing this is the ECU. It says Denso on it so it seems to be a Denso ECU.
If all the above is correct, then there still seems to be a comms problem via serial connection. I had a look at rr_system.log. It appears to be sending the ECU Init command, but getting no response. See attached (TRACE version).