Pretty sure it’s the same for all Toyota’s made after 1998.
Start with cold engine
Idle until it reaches normal operating temp.
Drive around city roads for 15 minutes , no more than 40mph
Drive on highway for 15 minutes at steady speed , anywhere between 40-70mph , make sure it’s steady
Park car and let idle for few minutes.
Turn off and you should be good to go.
Should ready all monitors including catalyst.
If you throw a code at anytime you’ll need to fix the problem and try again.
You’ll find various methods online but they’re all very similar and the above has worked for me.
