How long 'till ODBII code clears? (1 Viewer)

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I'm not sure if Toyota's are the same, but on the Chrysler products i work on the light will go out by itself when it the computer see's 3 good global trips. This means three complete ignition cycles. It depends on what component though.
 
This is an excerpt from AllData:

OBD II regulations require that the vehicle's on-board computer lights up the Malfunction Indicator Lamp (MIL) on the instrument panel when the computer detects a malfunction in the computer itself or in drive system components which affect vehicle emissions. In addition to the MIL lighting up when a malfunction is detected, the applicable Diagnostic Trouble Codes (DTC) prescribed by SAE J2O12 are recorded in the ECM memory.
If the malfunction does not reoccur in 3 trips, the MIL goes off but the DTC remain recorded in the ECM memory.
 

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