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If you replaced the ABS actuator you will need a scan tool that accesses the ABS ECU and bleed functions. Usually this requires a Toyota tech view scan tool. If you just replaced one wheel cylinder or caliper you can still bleed this the old-fashioned way by making sure the reservoir is full pumping up the brake pedal and cracking the bleeder loose at each individual wheel cylinder. In some cases you can even bleed the actuator that way but the book specifically tells you to go into the bleed brake function in the ABS unit and activate the pump motor so that there's no air trapped in the ABS control valves themselves. If you don't have the money to pay the dealer to do this or the equipment to do it yourself I would try and bleed it the old-fashioned way and see if you get a firm pedal if you do then there's no air in the system and you would be fine.