Every vehicle is different & every drive cycle is specific in it's speeds & lengths that the computer wants to see before it tests the system. The information is available through Toyota, Mitchell, or All Data. It requires someone with access to those systems and a little bit of digging.
Some companies it is mileage others it is vechicle restarts. After about 50 restarts or 300 to 500 miles should take care of all the options. I replaced a airbag clock spring for an older lady took a month for the airbag warning to reset. (She didn't drive too often.)