The E012 error means that the torque sensor is misaligned. This is a common problem as many bikes come out of the factory like this and it takes a couple miles before the STePs system throws an error. You could try fixing this yourself by removing the crank on the drivetrain side, then the cover on the bottom bracket. The one time I had this happen, the LBS mechanic that sold me my e-bike offered to fix it for me for free, so I was idly watching. If I recall correctly, he was explaining that it was a magnet that needs to be reseated in the right place. Past that you're on your own, so it's probably better you just take the bike in for maintenance instead of risking the warranty.
Then E010 error is pretty generic and I've gotten it occasionally, usually when turning the battery on in colder weather to the point where it's almost predictable. After the pedal/crank turns past a certain point, the error will throw the first time I turn the battery on, but I've been able to easily work around it by turning the battery off and back after it errors out the first time. Likely, it is a firmware issue, but Shimano hasn't fixed it (yet). Until they do, it's not too much of an inconvenience.