What do you mean by 2 solid drive cycles? Like crank the car and drive it twice?

Update: i drove it a bunch and no cel. But i replaced the o2 sensor just now and the light came on. The code wasnt for the o2 sensor but i replaced it anyway since it's over 100k miles.

Do i have to reaet the ecu everytime i replaced a sensor? Gonna pull up the codes again later to see whether it's the same on.