how to reset tire warning lite?
First place to look is your owners manual.
Chances are on a 13 year old vehicle, the sensors need replacing. I would just check the pressure manually and ignore the light until new tires are needed.
Your owner’s Manual is your best resource but in general there should be a reset button, possibly low on the dash to the left of the steering wheel (each model year has it in a different location). Let the vehicle sit with the ignition on but the engine off, then press the reset button and wait for the light to go out. https://seventrumpet.com/reset-tire-pressure-tpms-light-on-toyota-highlander/