I had a headlight out and thought it was a fuse, after checking the headlight fuse I thought maybe i just missed the right one and started pulling and checking them all. After doing that my ABS light was stuck on. I checked the error and it gave me the front left sensor error, tried cleaning it and reset the alarm. This is where I am getting a bit lost in the diagnostic mode i would pump my brakes as fast as i can but never saw the flashing to indicate the error was reset. Am i doing something wrong to reset the ABS alarm light?

 

Maybe it's unrelated to the fuse pulling. Did you check the codes again to see if left front speed sensor set? If so maybe the sensor really is bad.

I dunno about the ES, but on Siennas of this vintage (1MZ-FE as well), the ABS computer going out was a well-known problem. $250 from an eBay company got you a rebuilt-better computer. Had this happen on my parents' '02 Sienna; symptoms were incorrect wheel speed sensor code and malfunctioning TPMS (TPMS system used speed sensor input to determine if tires were good to go). Maybe somebody with more experience with the ES ABS system can chime in.