Without Scan Tool

DTC CLEARANCE

a. The following actions will erase the DTCs and freeze frame data.
1. Except LEXUS Hand-Held Tester:
Disconnecting the battery terminals or EFI fuse for 60 seconds or more.

b. After completing repairs, the DTC retained in memory can be cleared by removing the ECU-B fuse for 60 seconds or more with the ignition switch to OFF.
c. Check that the normal code is displayed after connecting the fuse.