Here is what worked on my ES350
Turn the ignition switch to the "ON" position by pushing the start button twice do not step on the brake.
Press the odometer button repeatedly until the Trip A reading is shown.
Turn the ignition switch off.
Press and hold the "ODO/TRIP" button.
Turn the ignition switch to the "ON" position by pushing the start button twice do not step on the brake.
Release the "ODO/TRIP" button after the odometer display changes to "--------" and then turns off.
Turn the ignition switch off.