Disconnect the battery completely; remove all cables, for at least eight hours to defeat the ECM's internal battery wait another four hours then reconnect. The prompts will automatically reset.
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If death came with a warning there would be a whole lot less of it.
Are you referring to a relearn after the battery has been unhooked? About the only thing that needs to be relearned on a vehicle of this age is the idle strategy. Just start the engine, let it idle for a few minutes, then drive it. If you have any idle or drivability issues after that, those issues need to be properly analyzed
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Test first, replace parts later