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I believe most (if not all) codes can be cleared by disconnecting the battery for about 10 minutes. I haven't done it that way for a while on mine since I got my Autotap a few years back.
Yes, you can disconnect the battery and the code will be cleared, however, it will just return if the problem persists. I would get a decent scanner, or go to a shop that has one to view the O2 sensor readings to be sure they are working correctly.