Fault codes aren't permanent - if it was cleared and it's still in the DTC memory, the problem is not fixed. Anyway, here's a copy/paste from the factory manual to set readiness. NOTE: Coolant temp must be between 80C and 100C, IAT must be between 10C and 35C, and battery voltage must be at least 12.5v.
Drive Cycle Procedure
1. Connect the diagnostic tester.
2. Switch the ignition on and start the vehicle.
3. Idle the vehicle for 2-3 minutes. This executes the O2S Heater, Misfire,
Secondary AIR, Fuel Trim, and Purge system monitors.
4. Drive the vehicle at 45-55 mph for a continuous 7-minute period, avoid
stopping. This executes the EVAP, O2S, Fuel Trim, and Misfire monitors.
5. Accelerate the vehicle to an engine speed of 5000 RPM (with automatic
transmission use the tip-tronic mode); lift off from the throttle until the
engine speed is at around 1200 rpm. This executes the fuel cut off
monitor. Perform this step twice to execute the O2S rear monitor.
6. Accelerate the vehicle smoothly to 60-65 mph, cruise constantly for 5 min,
this executes the Catalyst; O2S, Misfire, Fuel Trim, and Purge System
monitors.
7. Decelerate and idle the vehicle again for 3 minutes. This executes the
Misfire, Secondary AIR, Fuel Trim, and Purge system monitors
