Long story but my right pass front door needed to be removed. Since it has a side airbag in the door and it was started to move it while the door was off, now the SRS lamp is on. Can this be cleared by anyone but a dealer? Can the dealer clear it?

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1996 E300D
1996 E320 Wagon 4MATIC
2003 Jetta TDI- GLS, 5-spd
1997 Passat TDI
2002 F350 Crew cab 4x4 Powerstroke
Jacobsen HR 15' cut ZTR w/ 80 HP Perkins diesel
Hustler 6' front deck with 28HP Kubota diesel