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on page 164 of my 2019 Yaris sedan owners manual it says

"the wrench indicator light is illuminated when the preset maintenance period arrives. verify the content and perform maintenance.
refer to Maintenance Monitor on page 434 "

page 434
reset method for nontouchscreen audio style = press and hold the selector { the illustration looks like the tripmeter knob at the right of the speedo} with the ignition switched off, then switch it on. keep pressing the selector for more than 5 seconds.
the master warning light will flash for a few seconds when the reset is completed.
 
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