Should be able to just disconnect your battery for a few minutes and it will erase the codes.
I also own a 2000 Sienna van. The ABS light is "on" all the time. You might want to check the "ABS" fuse under the hood to make sure that its not blown. From all the info I can find out about it, it appears that the ABS system is NOT functional, but that doesn't mean alot. It apparently can cost about $1500+ to replace the ECU for the ABS system. Just pump your brakes (as in the earlier years) and you should be fine... The vehicle still has perfectly good brakes, just not "anti-lock" brakes.
anti-lock breake system i believe
Add brake oil
how to reset abs warning light on 2000 gmc Yukon
i got mine at local breakers . or they are nearly £480 to buy and fit
Yes, there is an ABS light indicator in the 2004 Toyota Highlander model.
If you disconnect the ABS module, the system will default to conventional brakes, but the ABS light will be on.
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Use a error code reader to erase trouble codes or disconnect the negative cable from the battery for 5-10 minutes.
chances are its either worn brakes or possibly a wheel speed sensor...good luck!!
Bob