Having problems with your 2007 Toyota RAV4 ?
HOW TO CLEAR CHECK ENGINE/VSC/4WD LIGHTS ON DASH
You need to have a scan tool. You used to be able to clear codes by disconnecting the battery for 30 seconds but not with the late model stuff. Some auto parts stores will offer this as a free service but if you have a check engine light on it is telling you there is something wrong. If this is self inflicted, ie you unplugged some sensor while the engine was running and you know for sure there is not anything wrong most fault code will go away on their own after about 50 start cycles.
Repair Help & Product Troubleshooting for 2007 Toyota RAV4
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