Without Scan Tool
CLEAR THE DTC (not using the LEXUS hand-held tester:)1. Using SST, connect terminals Tc and E1 of DLC1.
SST 09843-18020
2. Turn the ignition switch ON.
3. Depress the brake pedal 8 or more times within 3 seconds.
HINT: By completing the above operation, the DTC of the ABS will be cancelled out.