There is a drive cycle set of requirements and it’s usually possible to clear them in under 20 miles. Trying to figure which part of the cycle isn’t accomplished yet is the challenge. I’ve chased it down on my wife’s Honda when we were trying to get it to go “Ready” the same afternoon. Usually just not doing anything unusual for a day or so of normal use is enough, but you can often query the OBD2 system to get the portion of the cycle that’s not yet complete. Just doing a long highway drive isn’t going to do more than a moderate highway drive already did.