The tire pressure sensor light illuminates after driving 2 minutes.
How to reset the tire pressure sensor light? on 1998 Toyota Sienna
Check the tire pressure and set to factory specifications then drive the car to at least 19 MPH, the light should reset on its own. If it doesn’t you could have a problem with one or more of the transmitters or the TPMS module. Keep in mind that with the age of your vehicle, assuming these are the original transmitters, the batteries are probably dead. The life of the batteries is 10 years plus or minus 2 years. A shop with a TPMS tester should be able to tell you if the transmitters are still operational.
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ck all tire pressure incl spare tire then drive it should reset itself if all is well