If you have hard codes, then you generally need to put on a OBD-II, and clear them. Of course, when you do that, then all of the emissions state is automatically cleared. e.g., clear any fault code, and all emissions state is set to incomplete monitors. That is CA and Fed. law, so all the vehicles do that. (That is the anti-cheating mechanism). And then, you get the privilege of running the proscribed test program above.
For some (very few) people, just driving a while (usually 2 weeks to a month), will eventually hit each of the sub-components of the emissions monitors. The ones that typically take the longest to get happy are the EVAP monitor, Catalyst (CAT), and Oxygen (O2) sensor. On some vehicles, the EGR and Heated Oxygen Sensor monitors are added to the list.
But for me, its almost always the EVAP monitor. And that one is difficult because it cares about the cold-soak requirement, the 1/2 tank requirement (it measures EVAPORATION Gas fume vacuum condensation system performance, hence the tank has to be 1/2 full, so that there is plenty of room for vapor), and the CAT monitor.
But if following the procedure above, you can crush all the monitors in the one session, they will all set from INC to OK (assuming your care is in correct working order).
I obviously recommend getting an OBD-II monitor. Plenty of them now for your iPhone or Android phone that work wirelessly (usually bluetooth now), or you can get a cheap (but adequate) one from harbor freight. HFT seels a bluetooth (phone use) one for $60, and a low end (codes only) unit for $40. Those are both worth buying and throwing in the trunk..
Units with ABS brake codes (more), SRS (Airbag) codes (more), Live Data capture (more), and "Fix recommendations" (various branding) (more), and Live Data graphing (more+).. I work on my own car, so the +ABS,+SRS(airbag)+LiveData makes sense. The Fix Recomentations basically just give you "English" two sentence explanations (that you can otherwise get using Google on a laptop to lookup Pxxxx code causes and meanings. The internet explanations are generally more complete, but Fix Assist lets you do it in your garage to some extent (or out on the road).
If all you are trying to do is pass emissions, then the $40 units work fine. Amazon sells low end units with OBD-II codes, and print/clear codes options for $20, and even $10. These units all work just fine.