With Scan Tool

DTC CLEARANCE

The following actions will erase the DTC and freeze frame data.
Operating the OBDII scan tool (complying with SAE J1978) or TOYOTA hand-held tester to erase the codes.

(See the OBDII scan tool's instruction book for operating instructions.)

NOTICE: If the TOYOTA hand-held tester switches the ECM from normal mode to check mode or vice-versa, or if the ignition switch is turned from ON to ACC or OFF during check mode, the DTC and freeze frame data will be erased.