The maintenance light came on at 10000 mi. on my 2004 Highlander. Is there any way to turn it off without going to the dealer?

 

"maintenance light"?? like check engine light? if it's the check engine light, you can go to autozone and get a code reader to check it. but since you're only at 10,000 mi, you're under warranty and should take it to the dealer

 

Try this its for a different Toyota but it might work. Also check the owners manual, it might be in there.

with the car key on ACC, set your odometer on mileage(not trip a or b) then turn ket off. then hold they button that switchs from odo and trip, then turn the key back to acc. while you are holding it down you will notice the maintenance light blink and go out. and then you are done.