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It isn't really "how long of a drive cycle" as much as it is "how many drive cycles" are necessary to get the sensors to a ready state. As mentioned, a cheap OBD II of your own or possible leveraging one from Autozone or similar. You should also be able to go back to the place the did the battery swap and have them check the sensor ready state.
In CT, I believe you can have only one sensor in a not ready state (if any) or you'll immediately fail so I understand the issue. Where are you located, by the way?
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